I have wheeled my daily driver for years and never had a problem. Its a SAS '91 pickup on 38.5's and until recently had toyota axles and a welded rear (now has 3/4 tons and a welded rear and still drove almost every day). I did every bit of uwharrie a number of times and drove it home. the only problem that has left me needing to work on it after a run is the u bolts in the rear want to loosen up, but i have never had to take a day from work to work on it after wheeling.
As for the SAS it is pretty easy if you fab up some of the parts yourself. The biggest cost is the axle, gears, lockers, and the crossover steering. If you can get the gears set up by yourself or a buddy that will save on cost. I made the hangers and set up the gears on mine and that saved me a lot, i spent $30 on the metal instead of a couple hundred dollars and i only spent about $500 on gears instead of the $1200 to $1500 i was quoted from galloways.