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Can you see it leak from under the vehicle when it's stopped?
It sounds like a hose clamp may be leaking. What will need to be done is to have the cooling system pressure tested with a pump that puts pressure into the cooling system and then the leak can be found easier. The skid plate will have to be removed in order to see it though. Not a hard job for a shop to raise the vehicle in the air with the system pressurized and they might even be able to see the leak without taking the plate off. Most shops charge a minimal fee to do this and tell you exactly what's leaking and it should be covered under warranty. If you have further questions feel free to reply.
Thanks for asking!