Iraqvet05 - thanks for the reply and more importantly, thank you for your service in the military
Yes, unless I am missing something on the service write-up it is the output seal. Does the auto-park mechanism complicate a layman changing the seal somehow (they definitely said it would be around $500, so trying to figure out why it would be so high).
And yes, once things warmed up a little the motorhome drove/shifted fine - the only reason why I noticed the drip is because it was landing on the hot exhaust and I could smell it :)