Just repeating the same steps again would not work, since you’d be trying to set up a new Vault PKI secrets engine, at a path where one already exists.
Unfortunately, that tutorial is written in a way which suffices to get a temporary testing setup working in a development environment, but neglects to address ongoing production operations.
When the 5 year intermediate expires, it is assumes people have enough experience with the Vault PKI secrets engine to be able to figure out the renewal procedure themselves … I reckon it would probably take me at least 30-60 minutes to write a decent document explaining that.
And when the 10 year root CA expires, it’ll be an even more complex procedure, dependent on what else is depending on the Consul HTTPS API.
Rotation of intermediate certificates is almost as easy. Assuming a decent operational setup (wherein during end-entity issuance, the full certificate chain is updated in the service’s configuration), this should be as easy as creating a new intermediate CA, signing it against the root CA, and then beginning issuance against the new intermediate certificate. In Vault, if the intermediate is generated in an existing mount path (or is moved into such), the requesting entity shouldn’t care much.
involves a multitude of fairly complex Vault API calls, which is what I’m estimating would take at least 30-60 minutes to write a decent explanation of.