I found the exact spot where it is leaking from, looks like the pipe was rusted out, and have been wondering if maybe someone had the same issue and knows how to fix that and the part number.
Link to video
Link to video
VW Touareg 2015 TDI Steering fluid leak
- Thread starter smeyk
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Probably 7P0422891K & 7P0422893AB
Thank you! Ordered the parts.
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uhm, I think you had better address that rusted through (!!) sub frame! 
That was a flashlight and the light from the camera it seems like it rusted out but there is nothing crazy there and I'm going to undercoat the belly soon.uhm, I think you had better address that rusted through (!!) sub frame!