Undo the shock and the lower link to get the half shaft off.
First question, is your transaxle quiet? Or, does it whine on or off throttle?
If it is quiet, by all means, change the seals and o-rings. If not, you should pull the transaxle and set up the ring and pinion backlash properly.
Be careful and systematic when changing the seals. It's not hard but it is also easy to $%#! it up. The seals are push in from the inside so you have to remove the diff adjusting nuts to change the seal. Do one at a time. Mark the original position carefully. Also carefully count the turns as you remove the nut so you can get it back into EXACTLY the same position. Don't forget the o-ring behind the seal run/spacer. The spacer has to "pop" over the o-ring. It's a bit of cuss to get back in place. Usually the best way is to use the weight of the car on the half-shaft to push it all the way into place.
Lastly, make sure you carefully shim your half-shafts when you are done.