Changing Wiper Pivot Seals
I think everything said so far was accurate, but I understood your question to be about getting to them. I don't think it matters too much much what car you are working on (a-body anyway). I guess smaller heater box /no AC would help. Easiest way is to do it with the dash out, which also requires the windshield to be out. If you had all that out, you probably would not have asked the question...
On my Duster I actually did them with the dash out, easy breezy, only to find the right one still leaked through the shaft. So after dash was fully assembled and heater box installed, I recently added a zerk to the right side. With the air diffuser off the AC it is visible straight up from bottom, I actually got to it easier by removing the glove box door and right vent tube. I did not do the left one yet. It may be accessible as is, but I believe will be much easier with the gauge cluster removed.
To put the rubber seal over the end, you can roll them inside out and then unroll them right into position over the splines. I also had no issue with locking nuts, so apparently that may vary by year/model.
If you have never worked on your linkage you will most likely need the plastic pivot grommets/bushings, there are numerous threads on here for those...