2002 ford Taurus red fluid puddle by the rear left tire.

sounds like AC to me. Could be landing on a skid plate/splash shield and trailing toward the driver side.

Time for a rebuild

Worn Steering Rack

$500.00 approx

You say transmission fluid levels are good. Is it a nice red or pink color or is it an orange, brown to black color. Does the vehicle actually shift into gear, the linkage from the gear shift from park to drive or reverse maybe be unhooked you can check that out also. Does the trans fluid smell burnt, should be kind of a sweet smell. Good Luck

with the engine running,in park, open the hood. pull the transmission dipstick,located on passengers side,just below the windsheild.the handle may be red,or yellow.pull the dipstick out and read it.the fluid level should always be in the crosshairs or XXXXXX's it has a full reading, at the top of theXXXXX's but only while the engines running and motors warm. it [the dipstick has a cold reading,but more acurate when read warm,and in PARK. always use FOMOCO transmission fluid when adding transmission fluid to your car. that means ford motor company fluid only.[fomoco] is it leaking fluid at all? do you see red fluid anywhere that you park the car? if so,then you have either a bad front or rear transmission seal. either ones a better thing than a bad transmission ,sounds like you're just low on fluid,but i got to ask where the fluid leaked or where it went? suggest that you check for leaks. you may add fluid to your transmission and it moves, but be alert,look for a leak somewhere.thank you for choosing fixya.com

Find under the hood botle/container with cap like this

There is only one container for washer fluid, and for front and rear whiper fluid goes from ths same container witch is under the hood.
If your front washer is working and rear doesnt than it's problem with fluid pump or line from the containet to the rear wiper is damaged or disconected.

check first the brake fluid reservoir to see if it is full, then bleed the brakes if the petal will not come up.

Sounds like coolant, Cars use a red coolant now days. The only other red is trans fluid.

It could be a leaking trans pan, output shaft seal,or bad rack & pinion.

depending on the color of the fluid it could be a number of things. If the fluid is brown/golden you are leaking oil, if it is red or dark red it's tranny fluid and if it is green it is coolant. If you can figure out what type of fluid it is, you can better determine the cause and then find the solution.

Btw, I’m available to help over the phone in case u need at https://www.6ya.com/expert/matthew_d24b835e574ef6ca