Need pointing in the right direction.

Yes you can. Mark the nut on the yoke and the shaft with prick punch marks (all three in a row. Remove the nut and count the rotations. Carefully slide off the yoke. Swap out the seal and reverse by installing the yoke on the same spline then tightening up the nut exactly the amount of turns you removed it and line up the marks you first made. Has work 100% of the time for me every time. Good luck!