Let it simmer for a bit. Off-roading with water flushes through these seep holes. Makes it seem worse than it is. Bumping and flexing can cause oil to get past the RMS and mixing with muddy water will make it seem worse than it is. Clean it up and drive it in the dry weather for a few days. If it stays dry, then it was a product of your adventure. If oil persists, then take it in under warranty. Dont let the service guys give you grief for taking it in the mud. That's the first step in warranty claim denial 101. Persist and they will fix.