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Is there any way, short of disassembling the entire parking brake, to replace the oil seal for the companion flange of the brake output shaft?

I dont see why you cant remove the yoke and e-brake drum and leave the band etc in place. The seal is in the support for the brake parts, but if you leave it in place and get the seal out in place it should work.
That said, this would be a grea time to take all of the brake parts apart and get them all cleaned up nice and adjusted correctly when you put it all back together. It really isnt hard to readjust the hand brake. Removing the support and removing and replacing the seal at your bench will be a lot easier.
Good luck with it.
Tim

Thanks for the response. The devil is in the details on how to attach something to the flange or the drum in order to remove them. The flange is flush against the drum. Any thoughts?

Removing the flange and drum should be a matter of removing a cotter pin, removing the big yoke nut and sliding them out. Going by memory here so might be missing something but it should be a straightforward project.
Tim

Thanks again for the help. I will try it. When I removed the rear drive companion flange, it took a large gear puller.