Any leak can eventually turn in to a major problem. Any vehicle I get fixing leaks is a priority to me. They will only get worse. Stop leak products might work in some instances but are just a band-aid and CAN damage pieces and systems eventually.
Common fluid leaks on XJ's.
Easy to fix:
Valve cover gasket (Felpro rubber, reusable gasket, dont screw with the cork one).
Diff. gasket (a good % of guys don't even use the gasket, just RTV, I do both)
T-stat housing (same as above)
Most coolant leaks (at hoses anyway)
Power steering hoses (if in doubt, replace, dont try to REPAIR)
Brake cylinder (rear). Don't screw around with it, buy 2 new cylinders. Any brake system leak should be addressed IMMEDIATELY before you take one more drive.
Tranny cooler lines (you can replace the disconnect o-rings & spacer or cut & clamp)
Harder to fix:
Tranny cooler lines (you can replace the disconnect o-rings & spacer or cut & clamp) can be a bear to find and the discos are crap (IMHO).
Oil Filter adapter o-rings (the b**ch is in the nut, on a 2000 it's a torx that's hard to remove, once you're there, it's a cake walk)
Oil Pan et al. - Getting the pan off and out is the hard part but once you've done that it's easy to replace. If you ever have to replace the pan gasket you should do the Rear Main Seal (RMS) at the same time. If you do that, the OFA and the Valve cover, you've eliminated pretty much all the engine oil leak sources. Always buy the Felpro one piece pan gasket, it costs more, but worth it in ease of handling AND effectiveness.
Axle seals - is a project I have yet to deal with - looks involved, pull the axle etc.
Your original question.
The pinion seal involves removing the drive shaft. If you are comfortable with that, the seal is fairly easy to replace, pry it out, tap it in to seat it with a wood block and hammer. Also while you're there and have the shaft out, the transfer case output seal should be checked and/or replaced.
I'm not saying that you have to go out and fix all these things this weekend. If you have some random small leaks, welcome to the "Jeep Thing". These are just the most common places that pop up over the years.
Gaskets and seals are maintenance items and should be checked out at regular intervals.