Jeremy - there are 2 bearings on pinion. One you may be able to pull out after removing flange and removing oil seal in 3rd member. Other one - you got to take 3rd member off, unbolt diff-housing and then remove pinion and finally pull bearing off.
Pinion aint gonna be too sloppy - there is simply nowhere to fall in 3rd member
Crown wheel will somwhat support it. When you gonna put new bearing - set preload to be 3Nm (1.5Nm with old one).
However you dont need to go there if you just want to replace oil seal. Just take flange off, pull old seal out, push new one in, dont forget to puth all those spacers you may find there back, bolt nut to 130Nm, verify you got preload of about 1.5Nm when rotating flange, and you good to go again