With the axles out, you'll have 2 caps with 2 bolts in each cap. Mark each cap to be sure it goes back on in the same position, remove the bolts and then the caps. Pry out the assembly to access the seals and pop them out. Putting them back in will be tough without the proper tool but I'm sure it can be done.
Once installed replace the assembly, torque the bolts and finish your reassembly.