Is it possible to do a diff fluid change on front Dana 44 without removing any steering linkage?

One of the first things I did when I got my Jeep was change the differential fluid front and rear, I took the covers off. I didn’t jack it up or turn the steering and my Jeep isn’t lifted. Some of the bolts were a challenge but I got it done.
 
I must have been in a lazy mood when I first tried this. I was able to knock this out in about an hour the other night with a socket extension. I really hate the smell of RTV.
 
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