I didn't replace my seals in the steel housing. They looked rather great. In my old housing, I'll see if I can get a close-up picture of the seal and the 'slot' which the cv collar fits into. I won't be able to show you the collar as it's installed. I did have to smooth it out before the installation. Recommendation: when using a pry bar to push against the inner cv, only go in ~1/2". Once you start to push it out, you'll see what I'm talking about with the raise lip. Oh, btw, no parts stores have these. If you bring in your old cv, you pull the collar off and place in on the new cv.
If you are going to replace that passenger seal, you should be able to do it with the axle housing in the truck. Though, obviously, you'll have to pull the axle shaft. The easiest way I've found to remove the axle is to remove the strut/knuckle off the control arm. In order to do this, you will need to pull off the caliper and ABS sensor and hang them out of the way. Next is the tie rod. It's not that easy to get off if never been off before. I had to leave my nut on the threads and hammer the nut to get the tie rod to come out of the knuckle.
With the strut/knuckle flopping in your hands, you would think this would be enough to get the axle out of the housing. It may but you'll have to man-handle it some. This is how I got it back in the other day. My son was working the floor jack on the control arm as I was handling the inner cv into the housing. Good luck.