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It sounds like you have one of the lines for your transmission cooler leaking. The line runs near the exhaust and most likely you are getting some of the fluid on it.
I suggest getting under the vehicle (or have a professional do it) and trace the lines from the transmission to the cooler (looks like a small radiator under the radiator) and se if one of the lines has a leak. That is the first step I would do because the fluid is flammable and if it gets really hot from a good travle, it could catch fire under the hood.
You just wrote that it has a leak with fluid on the ground.
Did you go under the vehicle to see where the fluid is coming from?
When towing, the pressure is higher because there is more load on the transmission.