When the car sits for an extended time the seals will often let some fluid leak out because they are a bit old and hard. Driving will usually allow the seals to soften as the fluid is circulated and the normal heat of driving lets the seal reform tight around the shaft and seal like it should. You also might carefully tighten the pan bolts, the gaskets can shrink a bit, but use care to not over-tighten so the pan is deformed - this will cause a bigger leak.

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