I replaced the axle seal on our passenger side rear drive axle. It is not a difficult job, but you will need a 3/4" impact wrench to remove every other lug nut. (The chrome center cover is held on by every other lug nut). Instead of paying someone to do the work, I spent the money on a 3/4" air impact wrench.
The wheels stay on the coach but I did jack it up on that side to reduce the amount of gear oil draining out. First you remove every other lug nut and the center cover.
You then remove the axle retaining bolts and pry the axle out. I spent some time removing the old gasket and cleaning everything. You have a choice, you can use a new paper gasket, or Ultra Gray gasket maker to reseal it. The paper gaskets can fail, the Ultra Gray probably will last a lifetime. The negative aspect of using Ultra Gray is it is difficult next time to pull the axle.
You need to torque the axle retention bolts and then of course the lug nuts.
That's it.
Your rear tag axle is constructed different. You may consider changing the oil in both the rear axle and the tag (but this is probably not necessary). The issue here is finding gear oil that meets the specification. I used Red Line synthetic 75W90 GL5 because I found a good price on it by the case.
https://www.amazon.com/gp/product/B0...?ie=UTF8&psc=1
I only changed the gasket on the side that failed.
Our coach has disc brakes on the drive axle. The rotors are inboard from the axle leak and the oil did not contaminate the brakes.
Hope this helps.