Assuming the fluid was directly underneath the axle seal where you took the pics, and the you have an automatic transmission, it's a good bet that the seal is leaking. The other fluids that could potentially be red are power steering fluid and anti freeze.
It could be from that seal, but it looks like the result of a leak higher up in the Rav4.
Have you lost any power-steering fluid. I would take a look at the power-steering hoses and the seal on top of the rack, before going after that seal.
Both of you guys mention the power steering fluid. I was afraid of that.
I spent 600 on a new rack in February. It was very tight after it was installed. My steering was heavier. I questioned it and got nowhere. I was told that it was because it was new. I have put 30,000 miles since February and it may be going bad again. I didn't see power steering fluid going down but the fluid did smell like the power steering fluid.
I am going to take it in next week.
I went on EBAY to buy an OEM (rebuilt) rack and had the mechanic install it. I think the "rebuilt" was not done right.
I will find out and update you all. Thank you so much !!