[guided]We finish by decomposing the real line into countably many half-open unit intervals. Let $\mathbb{Z}$ denote the set of integers, and fix an arbitrary set $A \subseteq \mathbb{R}$. For each $k \in \mathbb{Z}$, define the affine map $\tau_k:[0,1) \to [k,k+1)$ by $\tau_k(t)=k+t$, and define
\begin{align*}
A_k := \tau_k^{-1}(A \cap [k,k+1)).
\end{align*}
Then $A_k \subseteq [0,1) \subseteq [0,1]$. The unit-interval result applies to $A_k$ as a subset of $[0,1]$, so there is a Borel set $F_k \subseteq [0,1]$ with
\begin{align*}
\mathcal{L}^{1,*}(A_k \triangle F_k)=0.
\end{align*}
Because the target interval for $\tau_k$ is $[0,1)$ rather than $[0,1]$, we remove the endpoint by setting $E_k:=F_k\cap[0,1)$. The removed part lies in $\{1\}$, which has Lebesgue outer measure zero, so
\begin{align*}
\mathcal{L}^{1,*}(A_k \triangle E_k)=0.
\end{align*}
The choices are indexed by the countable set $\mathbb{Z}$, and the ambient theory includes $\mathrm{DC}$, which supplies countable choice for this sequence of selections.
Now define
\begin{align*}
B := \bigcup_{k \in \mathbb{Z}} \tau_k(E_k).
\end{align*}
Each $\tau_k(E_k)$ is Borel in the half-open interval $[k,k+1)$, and hence Borel as a subset of $\mathbb{R}$ after intersecting with that Borel interval. Since $\mathbb{Z}$ is countable, $B$ is a countable union of Borel subsets of $\mathbb{R}$, so $B$ is Borel.
Translation invariance of Lebesgue outer measure under the affine translation $\tau_k$ gives, for each $k \in \mathbb{Z}$,
\begin{align*}
\mathcal{L}^{1,*}((A \cap [k,k+1)) \triangle \tau_k(E_k)) = \mathcal{L}^{1,*}(A_k \triangle E_k)=0.
\end{align*}
Finally, the half-open intervals $[k,k+1)$ cover $\mathbb{R}$, so countable subadditivity of outer measure yields
\begin{align*}
\mathcal{L}^{1,*}(A \triangle B) \leq \sum_{k \in \mathbb{Z}} \mathcal{L}^{1,*}((A \cap [k,k+1)) \triangle \tau_k(E_k))=0.
\end{align*}
Thus $A$ differs from the Borel set $B$ by a Lebesgue null set. Since $A \subseteq \mathbb{R}$ was arbitrary, every set of real numbers is Lebesgue measurable under $\mathrm{AD}$.[/guided]