Unfortunately, the only right way is to pull the motor, I normally replace up-pipe gaskets and oil cooler O-rings at the same time. You will need to remove the turbo so get O-rings for that and the pedestal. The pan gasket should be ultra grey RTV and I normally sand and re-paint the new pan as what comes on them is very thin.
Cheap Thrills Off Road
2003 F-250 4X4 7.3 PSD Crew Cab