The roof rails just be pried off and replaced. The door pillars can be covers with vinyl or plastic covers to hide the discoloration. I used 3M DiNoc carbon fiber vinyl pillars covers to dress up my faded door pillars. DiNoc also has a real carbon fiber texture feels like real carbon fiber weave. Cool.
How to remove the roof trim, Pretty easy it seems.
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After performing a lengthy search for pillar covers without much luck, I had my pillars covered with vinyl.