IIRC it wont leak unless the bearing is toast. I had both rears go on my pickup with 5k miles of eachother at 220k. Kinda funny that both factory bearings went at nearly the same time. Anyway, I don't think that fluid generally should be able to leak past unless it goes through the bearing which is sealed meaning that it soon to go. You should also plan on rear brakes at the same time as the gear lube is probably in them and the pads will absorb some of the lube and cause braking issues. My experience was that it actually caused them to grab and lock up sooner rather than reduce friction. Anyway at the dealer it should cost about 130-150 to have a new OEM bearing pressed onto your shaft if you just bring the axle in already out of the vehicl. That's what I have paid anyway. Probably could do it cheaper your self, but I don't have the proper bearing puller for that application. I think a ford 9" set will work on the toyota axles, but I have not tried.
HTH