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E28 Steering Box

Anybody have any experience with removing and fixing the steering box. Looks
like I've blown a seal. I'm leaking fluid at the ujoint.
Is this a DYI? Do I have to remove the arm if I just want to change seals?
Can I replace the seal with it in the car? Any help or
advice would be greatly appreciated.

Thanks

Scott Jenvey
'86 535iA - shark infested.

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