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Take axle shafts out, take diff cover off, then take diff carrier out. Make sure you either mark the bearing caps or see if the factory marks are visible. You do not want to mix those up. Same goes for the bearing races. Once that is all out of the way, you can pry the seal out. After that you make a little installer tool and press the new one in. Then reassemble.
 

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No easy way around it, but before sliding the axles in, we always use a scothbrite pad to smooth out the splines so there's no rough edges going into the new seals.
 
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