For the pinion seal, it depends on which differential you have. On the early diffs with the fixed spacer, you don't need to worry about the bearings at all. Just remove the flange (tapping gently with a mallet if necessary), change the seal, and torque the nut back to spec.
But the later diffs use a one-time collapsible spacer inside, which the books claims must be replaced every time. Usually, however, you can squeak by without changing it. The trick is to mark the position of the nut relative to the shaft, then put it back exactly where it was (rather than checking torque or preload).
But as Pied says, to replace the side seals, you have to pull (or press) the flanges off of the stub shafts. It seems to vary how hard that is, the ones on my Stag (which are identical to the TR6) came apart in the press with no drama at all.
Whether to replace the side bearings or not depends on their condition, IMO. If they show any signs of roughness or wear, I'd replace them. But if they still feel like new, then you know you've got good bearings (while new ones are sometimes questionable), so I'd leave them in there.
BTW, it takes a lot of torque to remove and replace those big nuts. A simple bar of steel drilled to fit over a pair of bolts makes the job a lot easier.
Normally, Nyloc nuts should be replaced every time as they lose their holding power. But if you have a collapsible spacer, you'll have to reuse the nut. If it seems to turn easy, you can lay the nut on a hard surface and gently tap the nyloc side with a hammer, to spread the nylon out a bit more.