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The rear axle seals are pretty much standard for the rodeo rears. Leakage into the rear brakes is a common failure. Oil contamination can destroy the rear pads/shoes. I would guess at around $200 to have it repaired. If you have the limited slip rear (option code G80 on the firewall), make sure to add a tube of OEM limited slip additive upon refilling the rear diff.
G/luck
Joel
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2008 Hyundai Santa Fe GLS AWD 2.7L
2008 Honda Odyssey LX chick magnet
Gone but not forgotten  : 2007 Chevy Cobalt LS, 2001 Ford Windstar LX, 2005 Trailblazer LS 4x4, 2002 Isuzu Rodeo LS 4x4 & and many more.
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