Wow, I feel like an idiot.
Turns out it is just AC condensation. I asked the guy on the phone with Toyota Roadside assistance what it could be and he just said it isn't safe to drive, wait for the tow truck.. I guess they may just be a dispatcher and know nothing about servicing or cannot give that kind of advice for liability reasons.
I remember reading about the 10th Gen Corolla with electric steering too, don't know why I thought it was steering fluid :| Oh well, I guess having no sleep the night before does that to you.
Thanks for all the help guys! Next time I should make a thread BEFORE even calling roadside assistance
Just one last question which is somewhat related, I thought it would only have condensation if the AC was actually on? But the tow truck guy told me the compressor runs every so often even if I don't turn the AC on, and it has probably been doing the leaking thing since forever its just I never noticed it until I was checking out the wheel and noticed the puddle of water.
Oh, and the noise just disappeared, I had the tow truck follow me around a few blocks and it was fine with no noise, not sure what that was, tow truck guy told me it may just be something stuck and it fell out.
Anyway, again, thanks for all the help... now I should probably read Automobiles for Dummies or something lol.