I completely rebuilt the entire A/C system in my UrS6 (new compressor/condenser/evaporator and flushed lines) as well as refilled the A/C system in my 200 20v using the tools I'd just acquired. You have far more technical and mechanical knowledge (especially about these vehicles) than I do and it's well in the realm of your capability.
I pursued these projects on my own due to the similar sticker shock you've experienced when shopping for parts.
All in, I spent ~$800 for tools and parts to do all of that work.
The one tool you should likely purchase is a gauge set (this will ensure you have clean lines and do not introduce contaminants into the A/C circuit) and decent ones can be had for ~$100 online. I also purchased a pressurized flush gun to flush the lines and a vacuum pump (although this can be rented from most FLAPS but the condition may not be great).
The biggest issue is evacuating the system. Legally you need to go to a shop and have it drained/recovered and some places will do this for free as the refrigerant is salvaged.
In my case, my compressor also blew (A/C black death) and vented everything. However, my compressor completely ate itself and the orifice tube contained atual metal chunks so I decided to replace the other components since they are cheap and virtually impossible to flush.

Disassemble and remove all components, flush the lines. Reassemble while replacing the O-rings at the joints. A little compressor oil should be added to the o-rings to ensure a seal. The new/rebuilt compressor will ship with the necessary oil INSIDE OF IT and will need to be drained into a container. You can add dye to it if you want to at this stage. I've read that some folks split the oil between the condenser and evaporator, I used an oil 'charger' to inject the oil when I filled the system.
After it's all reassembled, connect your gauge set up to your vacuum pump and open both HI and LO side valves and turn on your vacuum pump. Let it run for ~90 minutes. Close the gauge valves before you turn off the pump. Your gauge needles should both be pegged below 0. There is debate depending on elevation exactly where they should sit... Let the car sit overnight with the gauge set and verify the needles haven't moved, this will confirm no leaks in the system.
Assuming no leaks, connect an R134a can to the inlet on the gauges (depending the gauges you might need an adapter that pierces the lid of the container to open it) and open the low side valve. The vehicle should 'suck' in some of the refrigerant.
WHEN THE VEHICLE IS RUNNING, NEVER OPEN THE HIGH SIDE VALVE!!! This can blow up the R134a can, injury, death....etc.
Start up the car, and turn on the A/C (you may need to jumper the low side pressure sensor to turn on the compressor.
When the first can is drained, close the valve and swap for a second can of R134a. I forget the exact amount of refrigerant needed but the bentley has it and corresponding temperature charts.
The cabin should get cool as you get closer to the right amount. Keep an eye on your hi side pressures per the bentley chart. This was a quick brain dump, so ping me if you have any more questions or need the exact tools amazon links.