If they Haynes says it, it's probably correct.
you need to get under your Jeep, unbolt that oil pan again (I know, it sucks) Take off the rear main crank shaft cap. Then loosen the rest of them a little bit. Take a punch and push on one end, then pull it the rest of the way out with some pliers. Make sure that you put the new seal back in the correct way, there IS a front and back.