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So I take my jeep out yesterday. As I'm driving I take a left turn and I hear what sounds like the tire rubbing the wheelwell or grinding. Now i don't have oversized tires I only have 26 inch tires on it. When I get home and park it in the garage I come out later to find a pool of really thick brown creamy fluid under it. It was the consistency of mud. I don't think any coolant and oil are mixing anywhere because I recently replaced the rear main seal and there was nothing in the oil pan that looked like this and nothing in the coolant system either as I recently flushed it. It's a 94 YJ 5 speed, 6 Cyl. Any thoughts on this?

Also this is happened once before. The rubbing noise only happens when I'm shifting years and turning. After a few hours, the brown fluid leak stops and doesn't occurr again until that noise happens again. I probably took it out four times between occurrences. Now I do have a small leak by the front passenger tire that is new but it's not the brown fluid.
 

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Start by checking your fluid levels(axles, oil, trans, trans case, engine, p/s). Where ever you find the same fluid, that may be where the leak is coming from. When oil and water get mixed together, they form a mixture that looks and smells like a nasty gear oil milkshake.
 

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Where under it did you find this fluid? Generally if you look up from where the puddle on the floor is you can find what is leaking fluid.
 
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