I decided to call Lippert Customer Service about their warranty repair policy in terms of leaking seals.
The gentleman I spoke to in the chassis and axle dept. (who personally approves warranty claims), said they typically approve the replacement of the entire braking backing plate assembly when seals contaminate any part of the braking assembly. Obviously the labor to clean this stuff up would easily surpass the price of a new one.
He also said if they receive photographic evidence of excessive brake drum scoring they will also approve brake drum replacement, too. Of course, this only applies to warranty situations involving faulty axle seals. They obviously don't warranty normal wear and tear.
This is encouraging to hear. Got this gentleman's name and number just in case.