Transmission rear seal

Hi, my 2003 Tundra with the 4.7 and auto transmission is slinging transmission fluid where driveshaft enters transmission. I think it is rear seal that is leaking. I spoke with local repair shop and was told it may be bad brass bushing in the tail piece also . He mentioned that a cross member may have to be removed to get tail piece out if bushing is bad. Does anyone know if the cross member has to be removed? Tundra only has 143k miles on it. Hoping it is just the seal but wanted to get as much input from others that may have had this repair done before I get service done. Thanks

 

I know I had to remove the cross member to get the transfer case input seal out so I would assume so.