I've done it on the front tcase output on my '94 - I would expect this to be similar.
The basic steps are:
- purchase proper seal
- unbolt drive shaft from output flange
- unstake nut on output flange, use big socket to remove nut (30mm sounds about right)
- remove output flange; should come off fairly easily
- measure seating depth of old seal and record.
- use seal puller or a couple of screwdrivers to remove old seal.
- Tap in new seal to same depth as old one.
- put a bit of rtv on the shaft splines where the flange slides over it, to keep oil from weeping out along the spline grooves.
- Replace parts in opposite order. Make sure to properly torque and stake the nut on the output flange. Toyota recommends replacing the nut every time, but you can get by using the old one if you stake it good. Also be sure to properly torque the driveshaft bolts, and don't substitute anything for the originals. They are special high strength bolts - get replacements if needed from Toyota.
You may need to drain some tcase oil to keep it from leaking out all over the place when you pull the output flange.
It's about an hour job if you're doing it for the first time. If you do a forum search here or on the yotatech forum you should be able to find step by step instructions with pictures. Here's a link that has a bunch of info.
https://www.yotatech.com/forums/f116/rear-oil-seal-transfer-case-224390/