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The RMS is just an oil seal and seldom causes any problems beyond the PITA of an oil leak onto the floor where you park. Change the seal when you change the clutch.
There are ways to see how the IMS bearing is doing but not by just looking from even the bottom. Needs diagnostic tools (Durametric) or disassembly of trans from engine.
The owners manual covers accessing the engine compartment. Not much the rookie can tell except perhaps pulling the air filter and thus judging the maintenance the car had received.
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