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looks like trans fluid to me maybe the oil line is rubbing the headers (poor install) might need a new line or just brazed probably looking at $200 ~ $400 at a dealer try a transmission shop first
Yep. Tranny cooler lines. If they are worn through from contacting the headers you can buy a complete line from the dealer and if it's an O ring you can get new O rings at the dealer too. They're little teflon ones. Just remove the clip and pull the connector apart. I'd put some sort of heat protection on the lines after you fixem.
If the line running to/from the front (radiator for cooling) is bad it's a pia to change. You have to lift/support that side of the motor to feed the hard line through. $400 for labor is correct and what the dealer charges here to change the above mentioned line.
Did you happen to service the tranny lately? An overfilled trans will leak and drip from that area sometimes.
Not sure if you can buy them separate or not but they are not that difficult to change. The exhaust and the floor plate with all the little bolts has to come off but then it's just a couple of small bolts holding the retaining clamps. There are small stainless clips that you carefully pry out and pull the pipe out. A little messy but not a tough fix.