DIY is rife with risks and rewards. I didn't do the work but it appears via the videos that after screws are out, you pry the boot off. Maybe someone siliconed yours on? With your second point, beating up on the shaft using the recommended vice grip method to remove it didn't set off the airbag or damage the collapsing system as far as I know. The driver's airbag did not explode but I cannot quantity or qualify the true risks. You can rent out through FORD their online service manual to view and print off the official method (and info on other procedures). You can pay by the term. I think once I did it for 24 hours only, the cheapest plan. Good luck out there and stay safe!

 

According to the Ford Service Manual, the official solution is to replace the entire steering column. I will not be doing that, for obvious reasons.

 

I didn't take Ford's advice either although I had been unaware that is their recommendation. The lower U joint is apparently a common failure in the Ford Escape of that very popular vintage and not hybrid specific. A good shop probably has the replacement down to an artform if you wish to take it in. They should be able to quote you in advance. I think the common practice is to disconnect the 12V battery before working on the steering column on any car and give it a while to bleed off any residual voltage. With a hybrid, I don't know if that practice still applies. It's not an expensive repair so it of itself doesn't warrant scrapping the vehicle. Good luck!