On the 4.0 OHV motor, you don't have to drop the pan to do it. You have to remove the tranny, the flywheel, and the rear engine plate to get to it.
Here's the info on removing it from the Hayne's manual
1. With a sharp awl or similar tool, punch two holes in the seal on opposite sides just above the point where the main bearing cap meets the cylinder block.
2. Thread a sheet metal screw in each hole. Pry against the screws with 2 large screwdrivers or small prybars to remove the seal. Be very careful not to gouge the crankshaft.
3.Clean the oil seal bore in the block and main bearing cap. Check the seal bore and crankshaft sealing surfaces for nicks or burrs.
4. Apply a thin coat of clean engine oil to the outer diameter of the seal. Apply a thin coat of Lubriplate or equivalent to the contact surfaces of the seal and crankshaft.
5. Position the seal in the bore with it's open end facing IN.
6. Drive the seal in with a seal driver until it is securely seated. Use a socket or piece of pipe the same diameter as the seal if a seal driver isn't available.
7. After installation, the front surface of the seal must be square with the centerline of the crankshaft within 0.015" (0.38mm)