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should I change the pinion seal while I'm there?
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That's the one thing you can change with-out tearing all of the rest of that stuff apart.
But..."While you are in there" and need to change the pinion seal anyway, you might as well pop the pinion out too. You can inspect the bearings on it too.
Because of lock-out hubs, the ring and pinion are not constantly moving like the wheel bearings do.....but, they generally don't get serviced as often either. Look for pitting of the rollers and the races more than the heat/wear that is more associated with wheel bearings.
Spindles can be a real bear. They are a press fit with fairly large contact surfaces. Rust plays a major factor over time. For the really stubborn ones...yes, there is a tool. It threads onto the spindle and you bang it off with a slide hammer. (I guess that is 2 tools if you don't already have a slide hammer)