Does your power steering uses A/T fluid? If yes, check the hoses connected to the bottom of the power steering reservor to see if the hoses and the area below the reservor is wet with the fluid. If it is. Then change the hose clamps to the worm screw type and clean the area off. The oem clamps loose its tension over time.
If the drip is directly under the transmission area, then it could be the seal or the pan gasket. Also check the drain plug and fill plug, these also have a washer, make sure these are tighten correctly. Clean off the area and inspect to see where the leak is coming from.