Yes you need to remove the box. No it is not difficult, depending on how much of a rebuild you are doing.
You can tear the entire box down to the point where you have the input/rear output shaft kind of loose and sitting in the box. Everything else removed. Then you can replace all the seals. To remove this last shaft from the box entirely requires pullers and so on. All this can be done in a few hours after removal on the bench. Just get a good set of manuals (fordtoolbox.com) to follow.
One item to note are the shims that are used to set the gapping. If you are careful and don't pull apart that last shaft, you should be able to just put it all back together with the same shims and not have to do all the gap measurements and settings again.
Any bronco gods have any opinions on this?