Need more info.. Did you touch the substance before wiping? How did it feel? Did you smell? Better watch for more and do all the above to ascertain the answer to your question.
Whatever it is, it is very minor for now. Could pull one of the bolt access dust plugs and take a look if possible with a borescope camera if you could get one to see which side is staining, the transmission input seal or rear main engine seal side.
Just a FYI though, Jeep will not consider it a actual leak for warranty purposes until it actually develops droplets.
What the others have said - plus, if it was mine, I'd use a cleaner to wipe it off spotless and keep an eye on it.
It's possibly a protectant put on things during manufacturing that got hot and was spun out, or, could be either trans or engine oil.
So your choices are already laid out - not much else to say or do.