When the washer has not be used in about 24 hours, clear water will be found in the tub. What part needs to be replaced or is it time to get a new washer?
Sounds like your inlet valves are some grit in them and are leaking because they are not closing completely when they shut down. If it is a small problem, I would let it go, if you want to fix it you will have to replace the valve inlet assembly.
Good luck, and let us know what you decide.