IF the GX is like the LX 470 and 100 series, and IF the shop did the job properly (which I'd bet money they did not) it is legitimately an $800 job. The LX and 100 series is a semi-float axle without C-clips, same as a Tacoma. I'm pretty sure the GX uses the same set-up. It is held in the tube by bolts from the hub through the backing plate into the housing. To get to the seal, the rear brake caliper and parking brake have to be removed. The bell crank is disconnected, ABS sensor comes out and the rear brake line has to come off. Then the bolts holding the axle to the housing through the backing plate can be removed and the axle slid out. Usually the seal goes bad because the bearing is bad, in which case the axle sealing ring and bearing are pressed off the axle using a special press tool. The seal is replaced and the axle is fitted back up with a new sealing ring and bearing. Then the brakes go back on and then that corner needs to be bled. Here's a video that includes the use of a special press tool to remove the sealing ring and bearing.