Pretty simple DIY. It took less than a hour in labor with the right parts.
Parts you will need:
New seal, about 8 bucks from Napa
T40 Torx bit
1 1/4 socket
2 arm pully puller-I got a cheap one from Checker for 6 bucks, worked just fine
Seal puller (Optional-you can also use a screw driver)
Pinion press (Optional)
I forgot to take a lot of the pictures, as I was trying to get it done to beat the weather that never came.
Start by removing the 4 bolts holding the front driveshaft onto the yoke. Be careful not to strip them out. It found it easier to get them out using air tools, as they are in at an awkward angle. You might need to turn the driveshaft to get to some of the bolts. I just moved the truck forward to rotate.
After you got all the bolts out, you can pull back on the driveshaft and move it out of the way to get to the 1 1/4 inch nut holding the yoke on.
Once the nut is off, install the pulley puller on the yoke, and torque it off.
After that is out of the way, you are gonna see the seal.
Pull out the old seal. It is in there pretty good, so don't be shy with it. I used a seal puller, so it was pretty easy, but it is doable with a flathead screwdriver.
Here is a comparison picture of the old vs new.

Old seal

My seal failed due to mud getting in there, and the dirt drying out the seal.
Here is the back of the yoke filled with junk I picked up over the past 39,000 miles.

A view of the inside of the axle housing, looking at the pinion shaft

To replace the seal, you should use a seal press, but I just used the back of the yoke. If fit on the seal perfectly, and I used a rawhide mallet to hit the yoke to seat the seal.
Here is the new seal installed.

Once thats on there FLUSH, reinstall the yoke,) then the nut. I am sure there is a torque to the nut, but I just made her good n' tight with the air gun.
Reinstall the driveshaft, (it will only go on one way, the teeth line up,) and install the 4 T40 bolts. Again, I am sure there is a tq spec, but I just made em tight.
I was parked nose downhill slightly, so I didn't lose any fluid. I am not sure if you will lose fluid on level ground or not. Thats it, your done.