first step, jack up the front left side of the car as high as you safely can and put a stand under it. then put the jack under the rear end of the trans, just in front of the crossmember, and jack it up a little bit to take the weight off the crossmember.
now remove the five 12 mm bolts from the crossmember-to-trans mount (a flex head ratchet wrench works great for these), then the two 17 mm bolts from the crossmember-to-body. now you can drop the crossmember down as shown here.

now undo the 12 mm nuts at either end of the 4wd shifter linkage and remove it so you have more room to work. the stud spins but there are 9 mm flats at the base of the stud to hold it. i only disconnected the front end of the linkage for this pic.

here's a pic of the flats on the stud. i've never seen any other 9 mm part on a tercel before so this was a real red letter day.

now undo the 12 mm nut on the pinch bolt one or two turns and f***ing SMASH the nut end as hard as you can. i had a hell of a time getting a clear shot at it due to the floor pan and trans and brake and fuel lines all being so close together. i beat the hell out of it for half an hour before it gave but you really want to break the pinch bolt free in as few strikes as possible because you will end up damaging it.

here's the nut after i finally got the pinch bolt out. ugly. lucky for me, the bolt was fine.

crawl back under, remove the arm and washer, and use a small screwdriver to carefully pry the old seal out. be careful not to gouge the soft aluminum of the trans when you do this. here's the old seal out of it's seat and resting on the shaft.


lube the inner lip of the new seal with some grease and push it into place as far as you can. i had to tap tap tap it in the rest of the way with a punch because of the tight work space. here's the new seal (thanks, c_j!) installed.

...and reassemble. reinstall the washer, arm, and pinch bolt. i found the key to getting the pinch bolt in place was to gently fiddle with it until it easily slid almost all the way into position—no forcing should be necessary. do up the nut with lock washer and reinstall the 4wd shift linkage and crossmember, drop the car down, and you're done.
also, here's a good pic here of the shaft and pinch bolt since you can't see how the two fit together in any of my pics. c_j did this when he had a trans out of a car. if anyone has a chance to do this then, it's sure easier than doing it with the trans in the car.
https://tercel4wd.com/forums/viewtopic.php?f=16&t=9522