The FSM suggests the sump can be removed without pulling the engine - the front diff & rack & pinion will need to be removed.
Assuming that you're doing this because of a suspected leak - I suggest you be very certain that it is the gasket before starting - it's quite unusual for RTV FIP gasket to suddenly start leaking, and the H series engines have quite a reputation for oil running down from leaks higher up (possibly around the timing cover, the oil filter, and the oil pressure switch) and appearing to come from that area.
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