Polymer seals are utilized in various engineering applications to prevent leakage and contamination. The study investigates the wear and friction behavior of PTFE-based dynamic rotary seals, targeting their usage in space applications. Pin-on-disc dry sliding wear tests were performed with 0.5 MPa contact pressure and 0.2 m/s sliding velocity combining different lip seal (PTFE, PTFE+GF+MoS 2), packing (PTFE, PTFE+Aramid fiber+solid lubricant) and shaft materials (34CrNiMo6, PEEK) involving third-body lunar (LHS-1) and Martian regolith (MGS-1) simulants. To understand the different influences of extraterrestrial regolith simulants compared to commonly encountered abrasives on Earth, quartz sand was selected as a reference. Quartz soil resulted in lower wear rates but a similar coefficient of friction to other regoliths. In the case of lip seals, testing with LHS-1 on PEEK and testing with MGS-1 on steel resulted in the most severe wear. Post-mortem surface analysis revealed the effect of external abrasive particles on the wear process and the transfer layer formation. The surface analysis confirmed that both lunar and Martian regolith simulants resulted in significant embedded particles. Based on the wear performance results, the lip seals performed better, but installation with an external packing could further aid the tribosystem.