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It's really not so tough. Buildroot pretty much does all the hardwork for you.
Check out "Building a kernel with Buildroot", you may have to sort out your own little patches to get the headers all in place and any other niggles. (The reference is for a 3.3 you will have to make the adjustments)
But, in the main, that is probably the most user-friendly tool I found so far.
As a bonus you can make a better busybox if you can be bothered to jump the hoops.
HTH
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