2016 Sorento EX V6 AWD FE (w/ EX Premium Package) & 2020 Soul EX (w/ EX Designer Collection Package)
I believe only the first owner has the 10year/100,000miles warranty.As you're approaching end of warranty mileage wise. You maybe should open a work order with the dealer and have them assess it. Once on the work order of a leak. It can be addressed later if they brush it off. Keep the record and approach another dealer if you're not satisfied.
I would not expect its normal unless its been service and a minor spill occurred.