I was in the same dilemma but I know a guy who worked at the dealer and told him I would not leave my car alone or allow anyone to drive it. He arraigned to have his best trim guy to do the job and this guy had never worked on a GT but assured me the guy was very careful and read the instructions and understood the procedure. I drove the car inside and watched the whole time. This is a very simple job involves removing 2 plastic disks on the steering column, taking out 2 bolts holding the air bag assembly, removing and replacing the actuator, and reverse procedure. It would be easy to do yourself but I doubt Ford would allow that for liability issues. The key here is being involved the whole time.
By the way everyone who worked there including the owner came by and checked out the car and were very excited to look it over up close.
I think they have a program to come to your house but would rather take my car in as long as I was involved.