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You might be looking at at least new pins and/or hinge too. Open the door and lift up on it from the botton while you watch the hinges. Do you see/feel any movement?
I haven't swapped mine out yet but I don't think it is a biggie. Just support the door and do one hinge/pin at a time.
Yes, your door is sagging. You can adjust the door by loosening the 6 bolts that hold the hinges to the body of the car. It helps to have someone either holding the door up or lightly using a floor jack under your door (heavily padded with towels or something so the jack doesn't scratch the paint).
Not sure if the manual has much info on this, but I think there's a tech tip somewhere on the forum.