I have always just pulled the seals and take them to a bearing and seal
shop for replacements, hard tho if this is a Daily Driver.

As far as replacing the seals, the trans is the easy one, the diff seal however
will require re-torquing to get the right preload on the crush sleeve, I'm not
sure if there is a way to do this in the truck, I have only done a preload with
the diff removed from the axle housing

Wild

Thanks do you know how hard it is to replace the inner outer shaft seal at the transmision end brought it to a shop and they quoted me about $500 they said it was a big job. Also do you know the torquing to get the right preload on the crush sleeve?.
Thanks

Was that for them pulling the transmission or just bringing it in?

For torque specs check out acks faq and do a search for FSM, or diff.  You can find walk-throughs on there.

For hard to find parts, I usually just give Hawk Suzuki a call.  Or if you check out your local Suzuki parts dealership they can usually find the parts numbers for you.  Low Range has a basic kit for 29 dollars that has everything you need:

http://www.lowrangeoffroad.com/index.php/suzuki/samurai/differentials/basic-ring-and-pinion-install-kit.html

The pinion bearing preload is not am exact amount of torque, there
needs to be a specific amount of drag, measured with an inch ounce
torque wrench, this sounds like a big deal but it really isn't, but if you
have doubts, you should find someone locally that can help you, and
the shop you got a quote from, sounds like they quoted the front trans
seal, not the rear one, if not, they are a rip off shop, I would stay away

Wild

Thanks do you know how hard it is to replace the inner outer shaft seal at the transmision end brought it to a shop and they quoted me about $500 they said it was a big job. Also do you know the torquing to get the right preload on the crush sleeve?.
Thanks

I used to be a novice and you can do those seals yourself, the best thing to do is take your time, make sure your doing things right, use forums like this for help.  As for those numbers alot of aftermarket companies sell those seals and I have also found them at napa, autozone.

After pulling all the seals which was easy, I went to a Suzuki dealer they were terrible they had all kinds of trouble finding the part #'s as some #'s have changed, after an hour I got the part #'s but they only had one seal the rear pinion seal in stock, went to NAPA they had the transfer case front output seal and then to another place and they had nothing I'll try again today will go to a bearing and seal shop, I did pull all the old ones which I am glad I did as when I matched up the transfer case front output seal at the Suzuki dealer it was the wrong one. here are the Suzuki part #'s if anyone is looking.
rear pinion seal, 09283-40013 new # 09283-40027
transfer case front output seal, 29971-80050 new # 29971-83050
transmission output seal 24780-83010

Another problem I am hoping someone can help me with is when I pulled the rear pinion seal the pinion shaft coming out of the rear diff is now all loose flops around everywhere is this normal and can I just put everything back on as normal and retorquing the bevel pinion nut.?

Also does someone know what to torque the bevel pinion nut at?

The dealer I went to I have used them before on my F350 and he has always been great only fixing what has to be fixed. When I asked him he was not familiar with the Samurai he looked it up in the book and he to was surprised it told him to remove the transfer case to replace the transmission output seal. I pulled the old seal with no problems and it is a little tight but should be no problem to replace.

Thanks for the replies. and all the help.