I have a friend who works at Town Fair Tire, so I always bring it there under the table. They generally do a pretty good job (not just on my truck of course; on regular customer's vehicles. Costs $69.95 IIRC.
I've had two different dealers try and fail; in both cases I sat and waited for 2hrs+ until they told me they couldn't figure it out and gave my truck back no charge. To be fair, I do have everything Cognito with 315's with no lift, but still...