The factory service manual lists the procedure as follows:
1. Remove the unit hub bearings and axle shafts
2. Spin the pinion several times
3. Using a dial inch meter, measure the torque to turn the pinion
4. Remove the pinion flange and replace the pinion seal and sleeve
5. Reassemble the pinion flange, but don't tighten the nut. Just lightly snug it up
6. Spin the pinion several times
7. Measure the torque to turn the pinion
8. Tighten the pinion nut in very small increments, checking the torque required to spin the pinion
9. Tighten the nut until the required force to spin the pinion is between 3-5 inch pounds greater than the measurement taken in step 3
This procedure is listed in the 2004 Dodge factory service manual