Todays vehicles used closed gas tanks with a charcoal canister near the engine that provides the vent, Gasoline fumes are thus sucked into the engine, the ECC (Computer) senses this (Senses the engine is running rich) and adjusts for it so you do not loose to evaporation.
NOW: often there is a recirculation system where fuel pumped out of the tank is returned to it via some pressure regulation, This prevents vapor lock by the way.
There are lots of hoses and such involved with all this and they can crack, there is also the grommet where the filler tube enters the tank, plus tanks themselves have been known to leak (This at least would cause dripping which you should notice)
So long as the fumes do not reach the magic range of concentrations there is no danger but you should have it checked when you get home.