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It is definately a good idea to change the seals. The seals wear to the circumference of the shaft. I have actually seen grooves worn into shafts from the rubber of the seals. In addition if the old seals leak after replacing the shafts you will have to do the whole job over just to change the seals. The old ones pry out with a screw driver or better yet a seal puller and the new ones press in with a hammer and a proper sized socket, pipe or seal installer that is slightly smaller than the circumference of the seal housing. Good luck.
T
 

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Always a good idea. I didn't bother, as I replaced the pass side halfshaft. The seal for it is sandwiched between the engine and the gearbox and you cant get at it. There is another seal in the halfshaft extension, it's much easier to get to.
 
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