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Hello,
I am considering replacing the pinion seal on the diff but looking at the manual there seems a lot of friction coefficient measurements and calculations. I was anticipating marking everything and reinstalling back to the same positions. Has anyone any experience with this? Seemed like a simple task until I looked at the manual

I have not done it, but I have heard of it being done successfully.

That method is described in the Bentley E28 5 series manual.