I purchased 4 replacement rollers, a new belt, and a new tensioner (probably not needed but I figured if I was going to take everything apart, I might as well replace that too). Generally followed the video here: https://www.youtube.com/watch?v=VhfAA25JhFU
Couple of things:
1. Many of the screws were in so tight I struggled to get them out with a screw driver alone. Using my drill with a phillips head bit did the trick much more easily!
2. Have a vacuum handy to clean out lint buildup (especially in the duct just past the filter)
3. To replace the rear rollers (according to the video) requires stabilizing the nut behind a metal shield using a 14 mm wrench. Good luck getting to that! Instead, I loosened up the 4 or 5 screws at the back that hold the metal shield in place and made quick work out of it. This requires loosening the bracket holding the heater system to the bottom of the dryer, but it went back together easily enough.
4. Triple check that all of the connections are back in place before you re-assemble! I forgot to connect a sensor, got everything together, and had error messages. Luckily when I took the top back off I spotted the problem immediately.