I believe that you will have to remove the carrier. I replaced a bent prop shaft on my 2014 model last fall so I was pulling it all out anyway. I didn't have to pull the seal out of the carrier since it wasn't damaged, but I could have. I just used an exploded view as my guide. If you have a way to pull the seal (part number 17) from the carrier (slide hammer with a hook), all you need is to remove the bolt or screw and rotate the carrier with a rubber or plastic mallet and then pop it out with the mallet.
Make sure the push rod (part number 4) doesn't fall out when you are reinstalling the assembly. I used some heavy grease to hold it in place.