You can pull the yoke and replace the pinion seal and the o-ring. But you'll need to set the preload of the pinion bearings. Once you remove the yoke, you'll need to replace the crush sleeve or you can lengthen it back by tapping on the bulge with a hammer. When you put it back together, you should tighten the pinion nut till there is 20-24 in.lbs. of drag on the pinion shaft. This may take a few tries to get the preload right. It's much like setting the front wheel bearings up, so if you take it apart, replace the pinion seal.