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What year is this vehicle and are you referring to the side differential seals or the front pinion input seal?Skyvisions
toyota rav 4 2006, front pinion seal
Once the drives haft is removed the front portion of the differential or the housing has to be removed. This will expose the seal behind.. Click the link below for more information. If you need more detail and step-by-step instructions with torque information visit www.techinfo.Toyota.com and for $15 you can purchase a two-day subscription and you can download all the detailed information if you're planning on attempting this repair. Unfortunately you are just slightly out of warranty by 17,000 miles you might want to consider asking the dealer for some goodwill assistance to help cover the cost of this repair. It never hurts to ask.