Find your local toyota offroad club. There is a 99.9% chance someone in it has a shop and can do something like that plus you can make some new wheeling friends.
Personally I would go with the marlin crawler since they not only brace the tab but also reinforce the entire LCA mounting bracket. I'm sure the install cost is basically the same for both. The actual time is in removing everything an another few inches of weld is nothing
No modification required. The tabs fold over or bend which messes up your alignment if you wheel hard. Total chaos and marlin crawler among other brands make reinforcement pieces that weld on to better support the tabs and prevent this.