All depends on the capability of the local mobile tech team I think. Rivian reached out to ours here to verify they were comfortable doing it via mobile before scheduling the appointment.
A few hundred bucks or so and you could be carrying spare rods with you and replace them on the trail. They are not very difficult to swap out, and a skill worth learning if you do serious off-roading. A pair of aftermarket sleeves probably would have saved you too. Definitely would not be...
If you move far enough away from an SC, the Rivian mobile service has been absolutely amazing in my experience. Hope your service center experience improves!