I've done three of these now. My own motor, and two friend's. All three were on Road King Classics.
First, the improvement in the clutch is dramatic, and well worth it.
On these models, I've not had to remove the exhaust, but merely loosen the mounts (both flanges, the mount on the high-side, the mount at the cross-over, and the mounts at the saddlebag rails). This allows enough movement in the exhaust to access the clutch release cover. It is also necessary to loosen the heat shields, so they can be rotated out of the way. A critical tool is a set of ball-end Allen wrenches. Being able to come at the bolts from a few degrees off makes it much easier. It is also very helpful, but not absolutely required, to have a second person to manipulate the loose exhaust.
The footboard removal on the low-side is not too big a project (three bolts), and the primary cover removal is fairly simple.
The installation of the kit itself is very simple on both points (the clutch release and the diaphragm spring).
Because the release cover gasket is only a few dollars, and since the release cover is the difficult one to access, I replaced the gasket there, while I re-used the primary cover gasket. Also, upon removal, the release cover gasket tends to hang up on the oil slinger upon removal, and get damaged.
The dealer I shop at charges 2.5 hours labor. My first stab at this project took me about 3.5 hours, and now I'm down to about the 2.5 hour point. So I'd say that's pretty reasonable.
If your dealer is doing parts and labor for $170.00, that's a good deal. If that's just labor, it's only fair.
Harris