If the pinion appears good as Wes mentioned, then changing the seal is not too big a deal. First thing after pulling the driveshaft is to scribe a line on the pinion and pinion nut so you know where to torque it back to. You're supposed to use a new nut.
Before you remove the nut with an impact gun, use a beam torque wrench or one like below to measure the rotational force in inch/pounds.
When you torque down the nut after installing the new seal and line up the scribe marks, you want to use the torque wrench again and make sure the number is 3-5 inch/pounds more or else you'll have to take it apart.
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Bought a new AAM one and still need to send it out for powder coating. Orange of course as it's a pumpkin!