When replacing a rear main seal on 2004 Kia sedona does the motor and transmission have to come out together?

Just drop the transmission. Kia uses a special tool for installing the new seal (09231-33000). I wonder if a piece of PVC pipe, of the correct size, would work for that. The engine may need to be supported while the trans is removed. Lots of things to disconnect first; Drive axles, hoses etc.

Likely will take lots of time and patience.