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That $550 price better be to change all three seals!
If the seals are sweating, I'm not sure what alternative the dealer should give you. If you want it corrected, there is nothing to do but change the seals. Otherwise, you can just live with it unless it gets worse.
Since the car is out of warranty, I'd probably leave both the final drive seals and the head gasket, monitor both conditions, and if they get to the point where action is required, then take it.
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