Yes. I had this done as a warranty repair about 2 years ago. At that time my odometer was 30,000sh miles. They replaced an O-Ring.

 

I think you are referring to the CV axle seals

Left side seal 91205-P0X005
Right side seal 91206-P0Z005

They are specific to each side

https://www.ridgelineownersclub.com/threads/part-number-help-for-cv-axle-seal-at-the-transmission.226583/