I've seen the same thing w/ both of my Jeeps. At first I thought I also had a fluid leak. Took it to the dealer and they couldn't find anything. I never see any wet spots when I park my Jeep on dry groung (my garage), so I've convinced my self that it is not a fluid issue. I've noticed this yellow fluid dripping off of my exhaust when I do an undercarriage spray clean. I've attributed it to some sort of rust issue.

1999 Contour SVT #1966/2760, Silver Frost/Midnight Blue Koni Kit, Mille Miglia MM-S rims, B&M shifter, Stazi mesh, SFCs, optimized Y-pipe & TB, SS break lines, K&N drop-in, Infinity Kappa speakers, MTX amp/sub