Yes the yoke will slide off when you remove the pinon nut, That is a good way of swapping the seal, but swapping the bearing is a bigger deal,
I think you can usually get away with swapping the bearing but be careful.
Technically the gears are setup with a specific bearing preload for both the pinion and carrier. Also the carrier is shimmed side to side for pinion engagement and the pinion depth is also shimmed.
If you go by the book, the shimming is compensating for variability in gear cut, the machining of the housing, and the bearing thicknesses. If you change any one of those, you will effect the entire setup.
The reality is that bearing thickness is usually pretty consistent. So you could probably get away with a bearing swap, The only thing is you cant get the inner bearing race out without pulling the carrier and pinion.
Also,
Most gear guys will tell you not to torque your pinion nut with an impact wrench when the carrier is in.
If your yoke is loose you should probably at least pull the cover off and have a look at the ring gear, if the pinion has been walking around, it could chew up the gears. In my experience though, ring and pinion gears are surprisingly forgiving, but very finiky to setup right.
To do it right just drop it off with a ring and pinion specialist. You could find a set of instructions, but you will need to make setup bearings, and you will need a hydraulic press and a bearing splitter. More hassel than its worth.
I own 3 dana 60s and a 70, all modified, and i have been trained in how to setup ring and pinions about 8 years ago, but i still let the Pro's that do it every day do mine.