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Since Microsoft has release the 2.0 version of the ESB Toolkit (formally know as ESB Guidance) it is been much easier to use the toolkit. Now everyone can install it. Without days of frustration :-).
Peter Kelcey has made life for the BizTalk ESB developers even easier. He created several ESB Toolkit 'How to' videos. I strongly advice you to read his blog and take a look at the videos.
http://blogs.msdn.com/pkelcey/archive/2009/06/17/esb-toolkit-how-to-video-4-dynamic-itinerary-resolution.aspx