Sharpie is ink, and inks (including non-Industrial Sharpie®)are generally alcohol based, non-curing materials. Especially on non-porous items, you can use denatured alcohol to remove the marks years, or decades, later.
Other solvents may incidentally remove them, or have alcohol, but denatured alcohol is the best.
Now... on smooth and non-porous surfaces, you won't have especially sturdy marks. They will wear, pretty shortly. Especially if the part marked goes inside another tube so they are worn with every use.
May be fine to just re-mark regularly, but keep it in mind.
For permanent marking of things like this, diamond scribe or finely file very smallow grooves.