As far as rear main seal goes, the hardest part or most time consuming for me (= frustrating) was disconnecting the wiring that goes to the reverse and 4wd switches on the gearbox, might be easier on a J20A, on G16B the connector is buried under the inlet manifold, hard to find, and very fiddly to undo (and reconnect)...apart from that it's all pretty standard stuff; remove gear-sticks, drain transfer case, remove drive shafts, remove starter motor, undo bell-housing bolts, remove gearbox (this is where some help is important if you can't get a gearbox jack, remove clutch, remove flywheel (bolts aren't that tight but you need a bar or something to stop the flywheel turning while you undo the bolts. Then you can remove the old seal and fit a new one, make sure it's greased before it goes in. Refit everything in reverse order, use a torque wrench to do up the flywheel bolts (really not worth having to redo the job if they weren't done right) is helpful to have a clutch aligning tool, and even then it can take a few goes to get the gearbox back in (again help needed here or use a gearbox jack), don't forget to refill transfer case and check gearbox oil level...
There is a relatively cheap workshop manual you can buy that shows the process, it's not a great workshop manual compared to the factory ones but can be cost effective for this kind of job.
Oh and if you have the gearbox out, it really is good idea to have look at your existing clutch and unless you are sure it is nearly new, put a new one in...my clutch kit was lot less than $400, not sure what price range is for J20A.
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, but to their credit they got it ordered and to me same day and where very helpful. Changing the seal itself wasn't hard but getting to it was. The hardest part for me was getting to all the bell housing bolts and trying to undo them all they are pretty tight and its pretty cramped where some of them are. The cables on the transfer case are easy enough to get to altho I think one of mine has since worked itself loose. I did it on a mates car hoist, with no prior experience in doing a seal or clutch. But had help from a mate who knew what he was doing. EDIT: forgot to add mines an SV420 with the j20
