That's exactly what he did. You will have to make a speciality type socket to unscrew the pinion bearing support after removing the lock bolt. Remove the crown gear bearing support. Pull the pinion out, replace seal if needed then press the spline back onto the pinion in a press. Reassemble.
The video does not show how to replace pinion bearings though. I'd be concerned about adjusting the backlash between the crown and pinion if brgs needed to be replaced.