Disconnect the negative (-) battery terminal.
Remove the crash pad lower panel (A). Avoid damaging retaining clip. (Refer to the Body group - crash pad)

Remove ICM relay connector and 2 nuts.

Remove the body control module (A) and tilt & telescope unit after loosening 2 nuts and disconnecting connector.

Remove the body control module (B) from the tilt & telescope unit (A) after loosening a bolt.

Installation is the reverse of removal.
Trouble diagnostics when using scan tool.
If the self-diagnostic function is in operation, CAN communication stops and LIN communication is converted into self-diagnostic communication.
Only BCM communicates directly with scan tool, and the other units perform self-diagnostic function by BCM through the mediator of CAN or LIN.