As you slide the axle out hole the flanged end towards the rear of the car and slide the splined end against the inside of the housing till it hits the seal and pry rearward with the axle and the seal will come out on the end of the axle. No special tools needed. It may not work for you the first time but it is a very simple way to take out the seal and it is done all in the same operation as removing the axle.
Remember to repack the axle bearing with a good wheel bearing compatable grease as this is the only lubrication it gets. It is not lubricated from the rear end lubricant.