When doing a pinion seal in-car, it's common to check rotating torque at the pinion with the axles still in, wheels/rotors/drums off. They check it before they remove the pinion nut and then when they reinstall the nut they torque it until rotating force is a couple of inch-lb higher than the first measurement. It's not really checking the pinion force itself as the axles/carrier are still in, but it's more accurate than the marked-nut procedure and takes about the same amount of time. Since all of the rotating components are constant apart from pinion torque, you're essentially measuring pinion preload delta, which is fine in this scenario.
I use a Park Tool TW-1 0-60 in-lb beam-type for pinions both in-car and out, it's cheap and accurate. The ball handle makes spinning the pinion steadily very easy, but sadly it looks like they've discontinued it this year.