Since I could not find this info myself, might as well share what I've learnt.
Dealer charges 30minutes
Removing an outside door pillar on a B5.5 Passat
Lower the window all the way
Pull on the rubber/suède contour
(if it was never tempered with it might be a bit stuck, pull harder but don't try to rip it off)
Wedge the inner rubber and pull it out
Caution! Its easier to wedge the top corner part first BUT be gentle, its metal structure breaks easily, if it does it won't go back in 100%
Locate and undo 3 screws located under the inner rubber trim you have just pulled
Caution! What ever you do, DON'T let the screws fall into the door frame!
Once unscrew'd, locate the end part of chrome trim and GENTLY pull upwards. It is clipped into a hole in that pillar.
Clear the path for the pillar, as it has to be pulled upwards. Make sure it won't drag anything with it or rip anything off
Hold the pillar with both hands and pull it upwards along the doorframe. If it was never tempered with before, it might be stuck. Pull harder but don't bend it or cut yourself. It has "rails" on each side.
Once pulled, insert the new pillar and push it down, clip the chrome back in, screw the bolts, tuck the inner rubber back in, the outer rubber/seal/suède, the top corner, TEST YOUR WINDOW. if any resistance, then most likely rubber seal wasn't pushed all the way in. And thats pretty much all in reverse order to reassemble.
Hope it helps those like me that could't easily find this info!