It's not an easy fix, you will need some axle stands as you have to separate and lower the torque tube. You will need the seal before you take it all apart, only way to get it out is to destroy the seal. Jack up the truck and put the stands under the chassis, so there is no weight on the springs. No need to take the wheels off. You will need to disconnect everything on the torque tube - air connections and the brake lines, as you have to drop it down about 300mm. Put a jack under the torque tube to take the weight and unbolt the cover and pull the cover back and remove the spherical bearing. ( this is the rear but the front is exactly the same.)
You will need to pull the whole axle away so you can see the propshaft bolts, the torque tube ball is razor sharp , it will cut your fingers off it it moves back. Use a chain block or something secure to pull it back.
Once the propshaft if off,lower the torque tube. You will see this part - those bolts are special M12x1mm thread - don't loose them as they are quite rare.
Now you need to a puller to get that out - mine was very very tight, I made a steel plate with holes to match the prop shaft holes and a hole in the middle with a nut behind and use that to get it off, Once you have that off, you can see the seal.
Hammer in a smal screwdriver to bend it, and then pull it out. Then tap the new seal back on with a large socket.
Put everything back and lubricate the plastic ball joint with lots of grease.
TIme wise it is only a half a day, but you need all the tools and heavy stands etc. You don't need all the special tools, but you will get the idea.
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