Since mine doesn't get used 98% of the time, and pretty much never during any high speed driving, I just removed the pinion, installed new seal, tightened it all back up. Sure it may not be perfect, and people that are concerned with abnormal or excessive wear, again, with it's VERY limited use, it's gonna take a good long while for any damage to occur. Unless you have full time 4wd.
The rear diff, yes, I'd have that one done as correct as possible due to the constant use.