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I would not worry about the second axle, but I would inspect, as grease on brakes tells me a hub seal failure. I would replace both sides, so you do not have uneven wear between the two wheels.
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Mike and Lorraine
2002 3655 FL, 2005 3650RK
2010 3665RE, 2015 3910FB
F350 crew cab dually 6.7
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