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2016 Toyota Sienna LE FWD
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That is your transmission pan, if that is actively wet I'd look at the gasket if that is not leaking then it is the crush washer on the drain plug.

If it is not actively wet and is just a stain it could be that they changed the atf not long ago and is stained from that, clean that stain up and check back on it again.
 
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