Looks like slinging grease from outer CV joint. I would clean all that up and inspect boot for tears. Check tightness of outer clamp. Maybe it is loose because almost looks like grease oozing past clamp....
I would be worried that it has lost a significant amount of grease that would compromise longevity. I would take it to dealer and get it taken care of whether that would amount to repacking the joint or replacing entire half shaft.
Not likely an emergency at this point as those joints don't really do anything when going straight. Likely first symptom of failing joint would be noise when turning. The balls inside the joint start turning when the joint is at an angle. They make noise when they get dry.......
My JK driveshaft would start spitting grease from seals, rubber would split, get hot, spit more grease., then start making noise.... Never had joint completely fail, but I would replace them as soon as I noticed boot was torn. The Rzeppa joints on the driveshaft and axle shaft are similar I think.
So no need to rush and do anything this second. I'd probably just take pictures to show dealer...Wipe everything really good and inspect boot and outer clamp and go from there.