what Minisimp  does  is  leave the wheels on,  this is how i do it  so  you raise the truck enough  to  just barley clear the tires,  remove the brakelines  and nuts   and lift  the tire a little  and pull it out, this adds  some safety  to  removing the third member

the tire  should  keep the axle off the seal,  but  if your replacing it,  just leave the axles in  till you get the 3rd out  then  pull the axles  and replace the seal