The dealer usually doesn’t charge if you buy the fob from them.
Not sure if you are going to find anyone to disclose a “How To” on this topic as it is a trick of the trade. I wouldn’t short any pins at the ALDL unless you know for sure it will not destroy modules or cause other problems.
There is a stand alone procedure without the scan tool but I usually use the Tech2 or MDI to program new fobs.