Rear axle seals

After watching your video on rear axle seal replacement on the 1996-2002 4Runner I am pretty sure the process is the same on the Tacoma for these years. My question is about the bearings. If they do not have any play in them, do I need to take them off for the seals? In the video there is no mention of this and when I watched a friend do the job years ago he did not touch the bearing. The shops around me say that the job requires the bearings to be pressed. If the bearings are good I do not find this part necessary. I believe it is just the one seal on other side, correct? I want to be sure before I tear apart. Thanks in advance!