Of course it is possible but not probable especially since the fluid is really on the outside of the yoke. Some fluid could get inside the yoke I suppose but the chances are the fluid is coming through/under the seal and then following the yoke before dripping off.
70 Challenger RT 440-6 EFI, 73 Cuda 416-6 EFI
05 Hemi Durango, 01 Ram 4x4, 14 Ram 2500 4X4, 10 PCP Challenger 6 spd RT, 01 Viper GTS ACR, 52 B3B w/330 Desoto Hemi, 70 Hemi RR (under const)
9 x Challengers. AAR Cuda, 4 RR, 2 GTX, 4 Chargers, etc... (too many to list)