I know this is an old post, but I'm resurrecting it because there hasn't been much new activity here and I recently lowered the action on my AD17e by sanding down my saddle.
As others have previously posted, Taylor does not seem to discourage customers from performing their own saddle work.
I bought a string height gauge and measured the factory-set height on my 2 year old Grand Pacific. It measured High and was very difficult to play the closer you came down the fretboard towards the sound-hole. I did some research and watched some videos on how to safely and accurately sand the saddle. Not trusting my hands, I bought and successfully used a saddle sanding tool which guarantees a square bottom result.
I bought a new saddle from Taylor and modified that one so that I could have the original as backup in case anything went terribly wrong.
It was not expensive.
I then loosened the strings after putting a capo at the first fret and removed them from the bridge.
After loosening the 3 allen screws on the ES2, the saddle was easily removed.
I was careful to shave a few millimeters at a time off until I got the string gauge to measure medium-low.
The guitar now plays wonderfully up and down the neck and sounds fantastic.
I didn't need to look around for a Taylor-authorized luthier and spend days without my guitar wondering if I would be satisfied with the work.
I've also been tweaking the truss rod in response to different string gauges and humidity changes.
Don't be afraid.
