Yes, you can replace the bearing(s). There is two bearings.
You have to remove the rear cover plate. It has a seal for the PTO shaft replace that as well.
There is the PTO drive gear and a bearing on either side of it. Most likely will need a bearing and shaft pulled to get those bearings out if they a pressed in or they may slide out rather easy if they are worn. Make sure to drain the hydraulic fluid first before removing the rear PTO plate.
Rear Cover Oil Seal - 4264929M1
Outer Bearing Closest to Rear Cover - 6240858M1
PTO Shaft / Gear - 6254727M1
Inner Bearing - 6240863M1
Diagram Here
Object moved
Drivetrain System > PTO Clutch