I recommend you just clean it off, keep an eye on your power steering fluid level, and periodically check the steering rack nut. In other words, do nothing.
I had the same exact issue on my car a few months ago at about 12,000 miles. My alignment guy pointed it out to me. I hadn't seen any evidence of leaks on my garage floor, but I did notice that the power steering level was slightly below COLD MAX.
The fine people at the dealership cleaned the steering rack nut and slightly overfilled my power steering reservoir (thanks). But they also made the mistake of tightening the steering rack nut. From what I've since learned, this is not supposed to be tightened. When I drove the car, I immediately noticed that the steering felt heavier and actually had better on-center feel, but the steering wheel would not recenter by itself during a turn. So if I turned right at a stop sign and let go of the wheel, the steering wheel would remain at the same angle, and the car would continue toward the curb if I took my hands off the wheel. I had to manually walk to wheel back to center during turns.
I brought the car back to the dealership the next day. I then asked them to mark the position of the steering rack nut and loosen the nut a quarter turn at a time, and I then test drove the car until it felt normal again, which was after three-quarters of a full turn.
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