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From Mr. 5's picture of the diff pumpkin, I'd say that the seals are independent of the splined shaft. The seals would be around the bearing races I'd say.
IMO, go back to stock and have it towed to the dealer. If you try to fix it yourself and something blows up, your warranty will definitely be voided for that part. If the splines slipped past one another with the shaft partway out, you could have some dammage, so be careful.
Take it to an indy shop if you think it can be popped back in. If so, that should be a very cheap repair. Make sure they work on BMWs though...
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JB4 FTW
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