The dealer quoted me $545 for Inspection II, not including things like brake parts and such. Any big ticket repair (brakes) I'd take it to a good import shop in the area. At least this price includes a free loaner.
Buy the Bentley service manual and do the work yourself. The manual has a checklist for everything done during Inspections I and II, then explanations for each throughout the book. You'll save yourself several hundred in labor with this route.
So long as you can raise your car enough to examine the lines underneath, I'd say DIY.
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