What is this leak? How do I fix it?

So, tonight, I went exploring in my jeep (near my house) and found a trail I had never seen before. It had been washed out pretty badly (in multiple places) and I tried driving down it. At one point I got my jeep at a pretty steep angle trying to get through the washout and also laid my jeep down on its belly (nearly high centering). I also was a bit mushy with the clutch and I think I burnt it a little (which I usually know better, but I am a little out of practice).

Afterwards, we noticed some oil on the ground just past where this took place and looked under the vehicle to see a lot of dripping oil on the transmission.

Can you all tell me what happened and how do I fix it?

BTW, this is a 2019 4 door with a manual transmission, if that is helpful.
 

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