The pinion seal can be changed without a complete tear down.But I have to warn you it it not for a novice.
By removing the big nut at the pinion yoke, you can gently tap the yoke on the back side with a hammer to work it off of the pinion shaft.
Then you can pry the old seal.
For tapping the new seal in they make a special tool, but if you can find a piece of black pipe or a big socket that fits the flat metal portion of the seal well, you can tap the new seal in. Just be careful to keep in straight while knocking it in.
Next is to clean the spline and seal surface of the pinion yoke and scuff it up a bit with a scotch brite pad or steel wool.Apply just a small amount of chassis grease onto the lip of seal (so it has some lubrication), apply a thin smear of rtv sealer on the spline surface of the yoke( so it seals between the splines) ,then gently tap the yoke back onto the pinion shaft. Apply some thread locking compound to the pinion nut. Install the washer and nut.
Now the hard part..
Tightening the nut is where you can get in trouble, Tightening the nut adjusts the pre load for the pinion bearings. Too tight= BAD Too loose= Just as BAD. The books will tell you 15-20 in /lbs using a needle style torque wrench, but that is with just the pinion gear installed.That's not going to work if the diff is all together.
This is what works for me..
Remove the wheels and drums so that the axles can spin freely. Then hold the yoke and tighten the pinion nut slowly and feel the movement of the pinion shaft. ( you can use a big pipe wrench to clamp onto the yoke to hold it in place, just be careful not to bend anything up)You will feel that the play will eventually start to tighten up to where you have zero play . At that point you should be able to turn the pinion shaft and it should feel smooth, with no lumpy or binding feel.
Recheck for any free play, if you need to tighten a bit more that's ok. just don't over tighten.
Once you have zero free play ,tighten the nut another 15-20 degrees to where you just feel just a little bit of drag.That's the pre load you need to keep the bearings happy.
Lastly, If your not comfortable doing this, by all means take it to someone with the skills to make sure its done right.
There's no disgrace in calling in for back up... Good Luck !!!