Hmm, I did all steps and put the camera back together and what do you know, it worked great! The procedure was relatively easy, ESP. since I've never done a job this intricate.
It seemed that it wasn't a dirty lens problem to me that is causing the lens to go in and out, but a dirty, partially stripped gear. It could be a combo though... The gear is located in the left side of the last photo in a recess next to the lens. This gear is easy to access. Complete all steps as shown, then turn over the camera and tap it a little. The gear will come out.
A couple final notes: a. Remember to take out the battery and memory card first. b. The screws are on pretty tight, Nikon probably used Loctite, so be ready. c. get a quality screwdriver. Mine was a Husky, but by the time. It was done one of the blades chipped off. d. Finally, when you are done, boot up and reset the camera's date item hour and turn off. Then reboot and you should be good to go!