I recently did two, on a 760 and a 740, after getting some helpfull advices from this news group. It is not too hard but then it is not real easy either. And no, I did not drop the tank.
The steps I went through:
1. Make sure that it leaks from the tank lid and if it does then proceeds as follow.
2. Un-bolt the auxiliary tank if it is installed, lift it up a little and disconnect the two pipes linking the auxiliary tank to the main tank then remove the aux tank.
3. Remove the pannel in the boot to get access to the fuel tank lid.
4. Disconnect all pipes from the tank lid. I also disconnect the plastic filler tube which is attached to the metal frame to get it completely out of the way.
5. Undo the plastic nut. This is harder than it sounds. I had to get a $Aus17 plumber tool from a hardware store for this step. It is like an oil filter tool with a rubber strip in place of the metal ring. You feed the rubber strip through the tool to make a loop. From underneath the car there is just enough room to loosen the plastic nut with it.
6. Remove the tank sender/fuel pump assembly.
7. Replace the rubber seal with a new one.
8. Well, you know the rest. Installation is the reverse of removal.
In hindsight it might have been simpler to remove the bracket surrounding the tank lid (which also holds up the tank so put some block underneath the tank first) to provide some much needed room to work the plastic nut.