The Stovebolt Site Forums The Shop Area Driveline 41 AK pickup driveshaft seal

I'm finishing a 75% restoration of a 41 pickup. We did everything but the driveline as it was in good shape. It uses a torque tube driveshaft. The seal at the rear of the front stub driveshaft tube is leaking.

Question, to minimize labor, how do I remove the short tube (with ball joint) and replace the leaking seal. Can I remove it without removing the transmission? Can I loosen the torque tube bolts and slide it back into the rear end and get enough room to remove the short tube and replace its seal? Photos attached.