I compared the color of the fluid dripped on the ground to the color of the brake fluid in my reservoir and the oil off my dipstick and it is undoubtedly the brake fluid. It looks like fresh engine oil while the oil in my car has a few thousand miles on it.

I haven't had the chance to take the plastic off to inspect the lines but I will be doing so tomorrow.

I haven't had any problems with my brakes since I bought the car (33k miles ago) and the reservoir is completely full, over the fill line, and after running it for a few hours today I am not noticing any difference in fluid level.

Under my hood it looks like there is fluid running down the side of the servo and dripping onto some other lines underneath it then making its way down to the wheel well. Is this normally what happens to these lines?