Yes, there is slight "float" at the yoke and output shaft of the Trans. No need to remover the tail section to remove the seal. Check where the outer yoke touches the seal, and make sure there's no groove to cause a leak. If you see damage to the yoke's sleeve contact, then yes, you can remove the tail section without removing the Trans. The Trans may need to be elevated a little for clearance. Careful not to use the output shaft as leverage to remove the seal, if you find the yoke sleeve ok. If the sleeve needs replacing, you will need a press, and/or an adapter to R&R the sleeve. Use a new quad 0-ring at the tail. Remove the drive shaft, and inspect the yoke first. Don't forget to mark the driveshaft at the rear end. If you reinstall the d/shaft and are 180 degrees out, you may offset the balance. The tail seal replacement is a piece of cake. Make sure you use a leather mallet to the new seal and carefully tap it in square. Tapping in a circle, gets it home. If you have a seal driver adapter that has the correct diameter, you can make the job easier. Either way works well. Do not remove a little bead of sealer around the new seal. If using a mallet, try not to deform the lip seal, or distort the seal's housing. A little bit of Trans oil will be lost when pulling the shaft and the seal. Remember to top off the fluid when done. When reinstalling the shaft, use lithium grease, and apply evenly to the yoke's inside teeth. . Use either clean Trans fluid or a little lithium grease on the outer yoke for the new seal.