There should only be a rear cam seal on the passenger side... the driver's side has some sensor things in the hole.
I ordered what I thought was the correct seal for my 03, but then realized it was the wrong one... so I kept the existing o-ring in place and lathered up the face of the surfaces with a thin layer of high temp RTV sealant on it and put it back together. That was 2+ years and probably 30k miles ago.... still bone dry.
the work for the 3.8 is the same as the 3.5. Two bolts (probably 12mm), and the cover comes off. Installation is reverse of removal.