Sounds like your other axle's groove will clean up quickly using what Timmy said about emory cloth or fine sand paper. Done it many times on different vehicles.
Looks like the one in the pic already had the issue once, then had the seal replaced in a slightly different location and then got worn down a second time. Or is that just a trick of the photo?
Even if they feel deep, it doesn't hurt to take a minute to see how well they clean up. And whether or not you have the leeway to put a new seal in the housing in such a way as to meet the axle shaft at a new spot.
There are also "Ready-Sleeve" or "Speedi-Sleeve" products that literally press on over the machined seal surface to create a brand new sealing surface. However, if your uses are hard and you plan to run larger tires and use it even harder, I would use this as an excuse to upgrade to a stronger axle.
I can't tell for sure, not knowing the history of the truck, but I'd say that it has been run a lot with older and/or low levels of gear lube. Any rubbing surface can and will wear from a seal, but a well lubed setup will live a long life and have very little groove. Mine have 175k miles on them and don't have anything more than the very shallow wear area. And now they're on a friend's truck to put more miles on them.
Yours have enough wear to indicate a lot of miles or some circumstances not conducive.
Can't tell if those are small or large bearings, but that was good advice to take one with you to make sure.
Small bearing part number is: RW207CCRA
Large bearing part number is: 514003P
Part numbers should be stamped into the side of the shell and easy to read once cleaned. Usually...
Paul