I am, indeed, in MD. What part of MD are you in? I’m as far Northeast as you can get so if you’re closer to the DC area, I’d definitely connect with the Capital Land Cruiser Club guys - there is a huge wealth of knowledge in that crew and they’re awesome people. Feel free to drop me a PM with some details, happy to talk you through it.
As other have said, your inner axle seals are toast, leaking gear oil into your axles which is mixing with knuckle grease and seeping past the wipers.
It’s a messy job, and it’s a little time consuming, but not a super hard job, and you’ll be very familiar with how 4WD works when you’re done. You just have to be methodical about it.
What I don’t have is the centering tool others have mentioned, you’ll need to borrow (or buy) one (or trust that your shims are in the right place).
Happy to help, if I can!
Edit to add - page 15-27 of my build thread (linked in the signature) goes through a lot of the process. The real meat of what you’ll be getting into starts on page 20. I cleaned and painted everything and did a disc brake conversion at the same time, so not ALL of it applies, you definitely don’t need to pull the whole axle off the truck like I did, but the fundamentals are there (with pictures).