I have done this in position, an awkward job, quite a few years ago and the seal is still holding (not on my current vehicle)
From memory this is how it was done
1 - remove the connecting steering shaft
2 - remove the circlip
3 - remove the old seal (I used 2 self tappers on opposite sides of the seal and withdrew it
4 - I machined up a jig to get the new seal back in squarely
5 - replace the circlip quite difficult I still remember losing one
6 - join up the shaft
7 - top up the oil
Erich


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