The somewhat unlikely possibility is that it's just spills from your recent work, burning off from the exhaust.
It's also possible that the leak isn't what you think it is. I concur with the suggestion to clean the area. I use the "Gunk" engine cleaner in an aerosol can; best on warm parts, then scrub accessible areas and/or shoot water to wash all clean.
You can also tie a rag over the suspected drip point and see what color the drip is. This will tell you if it's ATF (red drip, suggests trans front seal, trans must be removed) or motor oil (brown drip, engine rear main, trans must be removed) or maybe if you're lucky, something else.
Trans removal is a messy job and you will likely spill a quart of ATF from the torque converter all over the garage floor. That said, it's not a job that requires substantial smarts; it's mostly muscle. BTDT, several times. If you have a good trolley jack, stands, and a set of metric sockets and combination wrenches, you have the material goods to do the removal and reinstallation, single-handedly if need be.
Trans off, if the engine rear main seal is bad it will likely show you a "river" or drip line down to the vent. You can replace the RMS yourself, and in fact I'd do it as a matter of course if the trans is off and the RMS hasn't been replaced in your memory.
If post-removal inspection points to a trans seal, that may be something best left to a shop, and they should reinstall the trans, etc. after replacing the seal. That way you'll have recourse if their job goes bad.
But hey, in this day and age, why aren't you running a five speed overdrive trans? AT removal is a prime time to make the switch.... just sayin'...