I haven't dug into this on mine, but I had a look at the service manual, and it looks like it's easier than you think it is--assuming you've got the H233B, which AFAIK all 4WD V6 Pathfinders do. PD-16 in the '90 service manual says that all you have to do to change the pinion oil seal on an H233B is remove the flange nut, remove the flange, replace the oil seal, grease the oil seal, reinstall the flange, and torque the nut to between 145 and 210 lb/f--and that's an acceptable range, not an adjustment. Pinion bearing preload and pinion height are set using shims.
There are specs (in inch pounds) for how hard the assembly should be to turn, to make sure you didn't screw something up after an overhaul. If you haven't done an overhaul, these tests should not be necessary. I don't see anything about measuring the loosening torque.
The H190 and C200 rear ends (only used in 2WD and/or four cylinder applications AFAIK) use collapsible spacers (crush sleeves) to set the pinion bearing preload. The manual says you can't replace the pinion oil seal on those without overhauling the whole thing.
You can download the '90 manual from cardiagn.com or the '94/'95 manual from Nicoclub. Both are free. If you want to talk to someone who knows more about the H233B than the rest of us combined, try @hawairish.