If you see oil dripping out the end of the tube, like many eventually do, then is when you have a seal issue. The problem is most common on the passenger side where the axle shaft seal is located so far outboard. A little bit of shaft wobble is magnified at the outer end compared to right at the differential where the other seal (driver's side) is located, plus that driver's side shaft is very short. The combination of a long shaft and outboard seal tends to wear the passenger seal much more quickly.
Replacing those axle shaft seals is very labor-intensive, so unless it is a bad leak, you may as well wait until you need new balljoints and outer u-joints, hubs, etc. It all has to come off...