is the sienna AWD? if it's FWD that it's possible that the frt axle seals are leaking @ the transmission. if it's just seepage then you shouldn't have anything to worry about, but if it's actually DRIPPING onto the ground then you should definitely get those seals replaced soon before you lose too much fluid and burn out the transmission.
the same would apply if the veh is AWD w the angle gear mounted @ the transmission.
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