Not always. Seals eventually just wear out over time. And grit etc. getting in them from mud and sand will make them wear that much faster. My front seals were gone after only 40 thou cuz of playing in mud. My rears didnt do much better. That being said, If its a 95 and you are gonna do the seals you might as well do the bearings while you are in there.
I think as long as you are not doing the internal bearings you will be fine. You should be able to just undo the yoke to get at thepinion seal and outer pinion bearing. The inner pinion bearing rarely goes because it doesnt get as much stress as the outer. The pinion bearings dont go very ofter at all acually. Usually just the seals.
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