This is an exptremely technical job to do. As you can see in that article, there are numerous special tools requirted to set these things up by the book.

The particular setting you are referring to requires 300-400 ft lbs of torque to get set correctly. It can be done as long as you have access to a very strong impact gun.

Here's how you have to do it in the real world without a lot of special tools. This is assuming you have not disturbed the inner bearing or it's shims.

This needs to be done with nothing in the housing besides the pinion. Assemble the pinion with all the spacers, ashers and the yoke. If you grab the yoke and move it up and down, you will see play. You need to hold the yoke while using the impact gun on the main nut. Start tightening that nut in short bursts while constantly feeling the movement in the yoke until is starts to have no movement at all. It becomes very criticle once you remove all the free play. You want to tighten this just to the point where you just start to feel a very slight preload when turned. You don't want much at all, maybe 1/8 turn after all play is gone. f you go too much, it will butn the bearing out. If you overtighten the collar, you will have to get a new oner and start over so be very careful..