You know, I noticed a different manufacturer recommend greasing the o-rings before installing in the torque tube. I personally would not do this. I guess if you knew for certain the grease would not break down the o-rings, then that would be okay. I do not know what oil or grease was used in the incident I witnessed (I assume it was oil). I also do not know what material the o-rings were, which is probably the largest variable in all of this. For years they said do not use any lubricant with petroleum in it on the head dampers. I don't notice this announcement in manuals these days, so I don't know if it is assumed you will use a petroleum free grease or if the o-ring material has changed to be impervious to it.
I guess the opposite could happen with grease and o-rings, which would be the o-rings swell and it only hold them in the tail boom tighter!
I don't know that I would go to the trouble of pulling them out and cleaning them off. I am probably making more of a thing out of it than it really is!!!