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I'm sure Subaru/Toyota would allow for in engine service were it possible since they were paying for warranty work. Upon looking at pictures of the shim it's not a simple shaped part that can just be sanded down. Not to mention sanding would create pores and weaken the metal.
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If it's possible to take rockers out without removing the cam carriers, then accessing the shims is also possible.
Also, valve stems are ground on a grinder
I'd take my chances at kissing a shim with a gentle roloc to turn a one-month job into a one-weekend job
Manufacturers are smart but they don't have all the answers. I was doing an engine R&R in a promaster city a few week ago. The shop manual calls for removing the engine from below with the transmission after removing the front subframe. I saved HOURS off of that job taking the engine only out through the top. Removing the intake manifold and pulleys is way faster than taking apart the entire front of the car, and it saved me from doing an alignment.