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I have ATF dripping from the seam between the engine and the transmission. Here's the puddle that I see after about 24 hrs of sitting in the garage. Front is up on jackstands here.

200k miles on the car. I drained, refilled, and changed the trans filter about a year ago. Also recently changed the waterpump which involved pulling the radiator and unhooking the transmission cooler lines. I can't help but think I screwed something up during one of these projects, but I don't see any other leaks other than right at the engine/trans gasket.

Any tips or techniques for fixing this that doesn't involve pulling the engine out?
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2az-fe, ACA33R, CV, U140f, 2006
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yeah na, gonna say it's not gonna be easy.
How's your budget/are you good with tools?
 

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While you don't need to pull the radiator (or the cooler hoses) to replace the water pump I doubt that caused the issue.
I also doubt overfilling the transmission (if you did) could cause it.
In the dozen years I've been on the forums I've never seen this leak, and it is a serious leak, so IMO that leaves a failed input seal at the torque converter.
You might have Toyota or a transmission shop have a look but it sure seems like a transmission pull job.
 
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