Can steering gear worm seal be removed in car?

1966 Barracuda power steering.

I'm rebuilding my steering coupler and totally removed the steering column so I could press out the pin to install the bottom seal.

As I look through the firewall I can see directly into the worm seal gear. Can that seal be removed without pulling the steering gear?

A couple years ago I did the trick to pop out the pinion seal, but can't do that with the worm gear without exploding fluid all over. With the pinion seal fluid went directly into a bucket.

Hoping I can replace the worm gear while the column is out.

Thanks!!