Ive known that there was something leaking under my es350 for a while now and I’ve finally had time to investigate. I took a look under my car and seem to have found a trace of where the leak drips from, but I can’t seem to identify what the dark substance on the PS pump is. I’m assuming that it’s either grease leaking from the cv axle or an oil leak. What’s your pick?
underneath of passenger side

 

CV axle grease.

 

it looks like your power steering pump is leaking. you may need to change it. if the liquid is dripping it's less likely to be grease.

 

You need look further. Spray some brake cleaner in the area and wipe off the mess, then check again if you can.

 

That is not power steering fluid.
The CV axle joint has really thin grease inside.

 

It looks reddish, like power steering fluid. I agree with cleaning it with a degreaser, driving it for a day, and then inspecting it again.

It's fairly easy to identify a CV boot leak as it flings the grease in a radial pattern all over the surrounding components.