Yes, you are right, you do not want to risk it going to the insurance first.
Techstream is your friend here. How to use it for this is described in FSM (VehicleInterior PDF). In Techstream is under Body Electrical / SRS Airbag. Anyway that is the place to look for trouble codes, and I expect that after a deployment there are trouble codes stored. It might be helpful to read them to see what other systems were affected by the incident so you know what needs to be replaced instead of just replacing all the stuff you listed. Techstream also has a lot of tests for the system described in the FSM so you can run them before tacking anything apart. A lot to read but necessary.
In FSM strat with SUPPLEMENTAL RESTRAINT SYSTEMS: AIRBAG SYSTEM: SYSTEM DESCRIPTION; 2013 MY LX570 that describes the system and the deployment condition.
The diagnose is above all that.
The curtain is under SUPPLEMENTAL RESTRAINT SYSTEMS: CURTAIN SHIELD AIRBAG ASSEMBLY: COMPONENTS; 2013 MY LX570.
Seatbelts are also in this manual.
There is a crash detection sensor built into the center airbag sensor (looks like this is your SRSCU but I don't think it needs replacement unless the tests say so). All the other sensors plug into it (lots of them).
Keep in mind that you have to wait min 90sec after battery disconnect before working on airbags/SRS! Looks like these systems have some kind of backup power (probably capacitive storage).
From FSM:
Be sure to perform the initialization of the occupant classification ECU if any of the following conditions occur. If the initialization is not performed, the SRS
may not operate properly.
a. The occupant classification ECU is replaced.
b. Accessories (seatback tray, seat cover, etc.) are installed onto the vehicle.
c. The passenger seat is removed from the vehicle, and then reinstalled or replaced.
d. The passenger airbag ON/OFF indicator light (OFF) comes on when the passenger seat is not occupied.
e. The vehicle is brought to a workshop for repair due to an accident or collision.
For a professional opinion you can go to an airbag repair shop and see what the estimate is - you'll see what they want to replace. Use that to investigate further on parts, etc.
Keep us posted how you fix it. I bet it can help others that went just too inclined off road and triggered the sidecurtains.