Transmission Leak at Drive Shaft

Apparently early 2nd gen Tundras had issue with a leak at drive shaft. I have fluid sprayed up under vehicle. No idea how long this has been the case. I'm 100k and haven't done a trans service. Crawling under truck to prep for trans flush that's what revealed this.

Apparently VIN before 5TF*V5#1*7X021640 had this issue. My VIN structure is 5TB*V5#1*7S450000

I assume this means I was on list of impacted because 5TB is before 5TF?

Anyway I know nothing about driveline so figure I'll take it to a shop.
Question is:
Who would be the best expert?
1. Transmission specialist?
2. General mechanic shop?
3. Dealership?
4. Is there such a thing as drive shaft specialist? I've never had a drive shaft issue on a vehicle before.
Anyone know a good mechanic for this in SF Bay area CA?

*Any aftermarket part options that are better than factory? Sounds like some took to dealership only to have leak come back in short order.
Looking to keep truck another 100k+ miles.

Thank you.

 

There’s a seal at the driveline/ transmission point that just needs to be replaced any mechanic or decent DIYer can do it

 

Oh man the good old yoke leak?? I took mine to the dealership like 4 times and was repaired under warranty until the warranty ran out. It stopped leaving drops of fluid on the ground after the 4th time though it recently started leaking again, but it's been hundred of thousands of miles since this repair...

Bay area mechanic, man spread them cheeks, you may have to call around and get a quote, there is a derogatory word mechanics use in the area, that I will not repeat here, when they see customers drive shop to shop, so I would call. If you're going to DIY, don't forget to chock them rear wheels.

 

I attempted repair but still leaks. How do you know if the seal is in at the correct depth? Should it sit flush or bang in to where it is recessed? I assume you bang past flush otherwise people wouldn't say find something slightly smaller than outer diameter of seal. Or you just bang it in until it stops? I just don't know what I could have done wrong. I wish there was a how does the seal work video to help visualize. Like what sits against the hollow backs side of seal? Is there a surface this hollow/recess slides over like a lip? I worry about letting someone else do it; if it failed for me it will likely fail for them and I'll be out $500+. The little commentary I find for this issue on Tundras seems like mixed results and the person doesn't have Tundra anymore.

 

The seal just goes all the way in until it bottoms out. If it was me I would put a speedi-sleeve on it. I would also check the breather on top of the transmission to make sure it's not plugged. The rear axle is the one that will normally plug up but there's always a chance that one of the others did as well.