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Well, not being familiar with your vehicle I can recommend this. The shaft seal is seated in the transmission where the input shaft enters the transmission.
If the seal part is a round metal ring with a rubber inner seal, then in all likelyhood it is pressed into the transmission.
Now if you think you can pull the seal out after you remove the CV drive shaft - meaning do you have enough room to get up in there to pop it out, then yes you can do it without removing the transmission.
On the other hand if the seal is not accessable to pop out then you will probablly have to remove the transmission which is by no means an easy job. Might want to take a look on youtube and do a search for CV inner shaft seal removal for your particular vehicle or one similar. You will probably find the answer there.
with the drive shaft out take a large enough slotted screw driver and pry the seal out of the tailstock, be carful not to damage the tailstock surface. to install new seal take a hammer and tap the seal in place evenly until flush.
IF it is a front seal on an automatic --pull the box . If a rear seal on an auto then remove the drive shaft and lever the seal out and tap in a new seal finishing flush with the housing all the way round If a manual box and it is a front seal the box has to come out and the clutch shaft housing ( bit the throw out bearing slides on taken of and the seal fitted in side at the end . IF a rear seal do the same as for the auto box.
The seal was damanged when you lost the drive shaft. You need to inspect the transmission housing to insure it was not broken. Pull the drive shaft back out, Pry the seal out of the transmission housing and replace seal. Use a socket the same size as the new seal and lightly tap into place. Reinstall the drive shaft and you should be ready to go as long as the transmission housing is not damaged.
the rear seal on the tail shaft must have gotten damaged when you removed the shaft. it is available at any good parts store, easy to change. you have to pull the drive shaft back out, then you can use a small hook / prybar to pull the seal out, then tap the new one into place. pay close attention to the install height of the old seal before you remove it, so you know how far to drive the new seal in. good luck!
If you are going as far as changing the seal you might just as well chg. the oil and the filters, i got a 2001 durango with a 4-speed over drive besides the regular flat filter it also has a srew on filter under the pan, i don' know what trans. you got in yours, but its best to chk. with you local chys.dealer they can tell you if its got that screw on filter or not but most do, also chys. recamends useing a special RTV silicone instead of a gasget witch you can get at auto zone along with the filter kit just ask them.
Yes it's a bad seal and most likely the side bearing to the trans axle is bad too. Once the bearing has play, it vibrates and causes the oil to leak though the seal.
Note: if one side went bad the other side is soon to follow since they have the same amount of miles on them. Might as well change both side.
Good luck and hope this helps. Keep an eye on the transmission fluid level, don't want to burn out the transmission.