LONG post, wow.
Welcome aboard. I would take it in and make them fix the leak, you will get a fluid change out of it. I would also do it soon as you will be out of warranty at 36K without an extended plan. That will give you time to see if it leaks again. To answer your question, any seepage at all is not normal. It should be bone dry.
Changing it on your own is as simple as taking the cover off, the fluid will drain out then. Jack up one wheel for a minute or two and then the other for a minute as well to get the old oil out of the axle tubes. Clean all of the oil you can reach out with a lint free rag or towel, the bottom of the case will be filthy inside and that is normal. Clean all of the silicone off of the cover, clean the magnet, and put about a 1/8"bead of silicone on a dry clean cover. I prefer to use the grey RTV, I have had less leaks with it. Put the cover on and snug the bolts down, do not tighten them as tight as you can get them, you will force all of the silicone out. The bolts on the bottom of the diff case (maybe 6-8 of them) will also need some silicone on the threads as the hloes they thread into go all the way through into the oil inside the diff case. You will see the through holes when you get the cover off and everything cleaned. Tighten them so you get an even amount squished out all around the cover. Let the silicone dry for an hour, and snug the bolts again, then refill with oil. When you fill it fill to the bottom of the fill hole, then put the plug in loosely and jack one wheel up as far as you can. Let it down and fill it up to the bottom of the hole for the plug. Then jack up the other side and let it down, refill again. You should be full now. Jacking it up on both sides and then refilling is important, if there is not enough oil in there the axle seals and wheel bearings will not have enough lube on them and you will develop a leak in the axle seal or have a wheel bearing go out. Tighten the fill plug and go. Find a parking lot or wide spot and drive in a figure eight as tight as possible, do 4 or 5 to mix the oil and modifier and to get the new oil into the clutch packs.
Depending on what type of oil you use you may need to add some friction modifier. The amount will vary depending on what oil you use, the synthetic lubes will typically need less or even none as some of them are pre-mixed with modifier for use in a LSD. If you do not have a LSD then you don't need to worry about it at all, just fill it up and drive. If you need the modifier add the quantity needed during the initial fill. If you get chatter from the LSD after the figure 8's then add a small quantity of modifier and do some more figure 8's, if it still chatters repeat untill it doesn''t chatter.
This sounds a heap harder than it really is, it will take you about an hour the first time being very careful to get it all right. Don't be surprised to find that the cover is stuck to the diff pretty well. Be careful to not damage the sealing surface prying it off, if you do scratch or bend it a little just flatten it out and clean up the scratch, no big deal.
Hope this helps.
EDIT: I had no idea I was that long winded, maybe my wife is right

If you let the dealer change the oil fixing the leak I would be sure to fill the diff as I described as soon as I got it home to be absolutely sure it is full. Don't be surprised if it is nearly a quart low, it usually is after they get done.