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I'm fairly certain that the roof rack from the factory is installed through the roof of the truck and requires connections from the underside... so, the headliner and other interior pieces would have to be removed to do a factory install. I had a 2003 Mazda Protege that was the same way.
I'd recommend getting a Yakima or a Thule. They're very functional and would be much less expensive than having a dealer install a factory rack.
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