Loosen the wheel lug nuts, raise the rear of the vehicle, and support it securely on jackstands while blocking the opposite set of wheels to prevent rolling. Remove the wheels and disconnect the driveshaft from the differential companion flange, fastening it out of the way. Mark the relationship of the pinion flange to the shaft and count the number of exposed threads on the shaft. A flange holding tool or a chain wrench will be needed to keep the companion flange from moving while loosening the self-locking pinion nut. Remove the pinion nut and withdraw the flange, using a two-jaw puller if necessary, avoiding prying or hammering behind the flange or on the end of the pinion shaft. Pry out and discard the old seal, then inspect the seal bore for cleanliness and smoothness. Lubricate the lips of the new seal and fill the space between the seal lips with wheel bearing grease, tapping it evenly into position with a seal installation tool or a large socket to ensure it enters squarely and to its full depth. Install the pinion flange, aligning it with the previously made marks, and if necessary, tighten the pinion nut to draw the flange into place without hammering. Install a new pinion nut and tighten it to the specified torque, then complete the installation by reversing the removal steps.