Hello Chad: Replacing the seal is more labor intense than skill.
Yes the exhaust pipes must be removed. A dirty, knuckle bleeding job.
If you have a air impact wrench. The pinion nut will come right
off. If not. More labor. Pull the flang off and pry the seal out.
You will spend three quarters of your time on the exhaust. If you
muffler is in good shape. Replacing the pipes are cheap.
I just did a U-Joints replacment on a 70 tr6. Had to remove the
exhaust to get the drive shaft out. Lost about 4 OZ of blood.
Replaced it with 36 oz's of cold beer (ice house) after the job was
done. John Flintstone, ga. Good luck.
____
John Rossi
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