Check you tightened the four screws that hold the sensor board on back down. If they are really loose it will be well out of focus, even a tiny amount as you know now.
When I was adjusting the focus, i got the board centered so it was even focus all round then worked on the tightness of the screws. By this i mean tighten them down literally till they just touch against the board. no tighter. Take a test shot and if its out of focus turn each one in a tiny bit and repeat until its all in focus. The reason being the board will compress slightly when you do those four screws up and it will push it into the circle of focus. The thick rubber backing on the back plate will help stop any further movement of the sensor board if your sensor board screws are a tiny bit loose.
As for the video where someone swaps the lens out. If you want to go that route be very careful. First during the process your sensor will be exposed, if you are not careful and you scratch it while taking out the lens its borked. New gimbal will be required. There is no fixing it. When you get your lens out and crack the sealant you will need to adjust the whole lens assembly for focus, seal it again, then realign your sensor. If you do. Take your time. Be methodical and careful. Grab a rocket blower to clean out the lens and barrel before you put it back together and really be careful with your sensor.

good luck