My dealer charged me 1.3 labor hours plus $13.23 for parts plus $1.17 for miscl shop supplies plus tax. Total was way less than $100 back then, and probably wouldn't be more than $100 now. But his labor rate was only $45 back then (05/2002).
That job on a Ford Superduty SRW pickup requires too many special tools and too much exacting work for me to even think about doing it on my driveway.
But if you think you might want to try, then here's the words from the workshop manual:
SECTION 205-02E: Rear Drive Axle/Differential — Ford 10.50-Inch Ring Gear
IN-VEHICLE REPAIR Procedure revision date: 03/24/2004
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Drive Pinion Flange and Drive Pinion Seal
Special Tool(s)
2-Jaw Puller 205-D026 (D80L-1002-L) or equivalent
Installer, Drive Pinion Flange 205-233 (T85T-4851-AH)
Holding Fixture, Drive Pinion Flange 205-012 (T57T-4851-B)
Installer, Drive Pinion Oil Seal 205-208 (T83T-4676-A)
Removal
NOTE: The rear axle shafts must be removed to prevent drag during drive pinion bearing preload adjustment.
Remove the rear axle shafts.
Remove the driveshaft.
Install a Nm (inch-pound) torque wrench on the pinion nut, and record the rotational torque required to maintain rotation of the pinion through several revolutions.
CAUTION: After removal of the pinion nut, discard it. A new nut must be used for installation.
Use the Flange Holder to hold the pinion flange while removing the pinion nut.
Mark the pinion flange in relation to the drive pinion stem to ensure proper alignment during installation.
Use the 2-Jaw Puller to remove the pinion flange.
Force up on the metal flange of the rear axle drive pinion seal. Install gripping pliers to the seal flange and strike with a hammer until the rear axle drive pinion seal is removed.
Installation
Lubricate the new pinion seal.
Use Premium Long-Life Grease XG-1-C or equivalent meeting Ford specification ESA-M1C75-B.
CAUTION: If the rear axle drive pinion seal becomes misaligned during installation, remove the rear axle drive pinion seal and replace it with a new seal.
Use the Pinion Seal Replacer to install the rear axle drive pinion seal.
Lubricate the pinion flange splines.
Use SAE 75W-140 Synthetic Rear Axle Lubricant F1TZ-19580-B or equivalent meeting Ford specification WSL-M2C192-A.
NOTE: Disregard the scribe marks if a new pinion flange is being installed.
Align the pinion flange with the drive pinion shaft.
With the pinion flange in place in the rear axle housing, install the pinion flange using the Companion Flange Replacer.
Position the new pinion nut.
CAUTION: Under no circumstances is the pinion nut to be backed off to reduce preload. If reduced preload is required, a new collapsible spacer and pinion nut must be installed.
Use the Flange Holder to hold the pinion flange while tightening the pinion nut.
Tighten the pinion nut, rotating the pinion occasionally to make sure the cone and roller bearings are seating properly. Take frequent cone and roller bearing torque preload readings until the original recorded preload reading is obtained by rotating the pinion with a Nm (inch-pound) torque wrench.
If the original recorded preload is lower than specifications, tighten to the appropriate specification for used bearings. If the preload is higher than specification, tighten the nut to the original reading as recorded.
Install the driveshaft.
Install the axle shafts.