For the most part failures just require a normal fix & take it back to get it signed off.
The only 'extensive testing' is for mods that go outside the ADR's, so you are verifying that it is still safe for on road use & won't be a danger to others. They do tend to err well on the conservative side, however, sothere is scope for mods that go outside the 'normal' limits which require that sort of engineering certification.
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Jeeps: Lego for grownups!
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