I haven't done a pinion seal on any of the newer trucks yet, but I have changed out a lot of pinion seals on a bunch of differentials in my many years as a mechanic. First the facts. You are only replacing the just the seal, not the bearings. When the seal is replaced, you want to duplicate the exact preload that your existing pinion bearings had before you took the nut and yoke off in order to replace the seal. The way I do this is to make some witness marks before I remove the pinion nut. Select a corner of the pinion nut to make a center punch mark on and then directly in line with the same corner of the nut, center punch a mark on the end of the pinion shaft just inside the minor diameter of the threads. I usually make a third mark on the yoke itself too, so that I am able to reassemble everything back in their original positions. After you replace the seal, all you have to do is run the pinion nut down until your marks line up. You will at this point have exactly the same pinion bearing preload that you started with before seal replacement. Don't forget to clean the threads of your pinion nut and shaft and use blue loctite to prevent the nut from loosening.
I have used this method for years with great sucess.