UPDATE: I decided to it myself....I figured I have a lift and built my garage to do most of the work myself so I did...
Followed the advice from a few ppl/websites and so far removal was pretty easy..It took me about 15 mins to unbolt U-joint, and remove nut holding Yoke, as well as pull out yoke itself (a few small taps with hammer).
Below are pics of the parts so far. I did notice yoke was a bit rusty near edge so I used 600 Grit sandpaper and Fine steel wool..It feels smother but not sure how smooth I should make it...I didn't want to go coarser on the sandpaper as not to damage the yoke...is 600 enough? Where do I see if seal is damaged? Thanx....