OK, I just found tpollauf's thread from a few years ago
viewtopic.php?p=521527#p521527
That thread has pics on where to clean to identify if it's timing chain tensioner or cover gasket, but from looking at those pics I seem to already know it's the timing chain cover gasket where the block and head meet.
Here's the original video I watched where the Toyota shop foreman says this in the 4th comment down.
https://www.youtube.com/watch?v=8KCMj75rJ1g
It's not from the power steering pump being over tightened. It's the 3 way joint of the block/head/timing cover that is a natural seem where they all meet. A bead of ThreeBond 1184 laid in those seems (bottom end girddle too) before installing the cover/gasket will seal it for as long as that engine remains running. All Toyota engines leak from this spot...super common. Coming from a Toyota Shop Foreman & MDT. Done many...
And here's the vid of actually changing the timing chain cover gasket
https://www.youtube.com/watch?v=4621r66Btug
At 13:32 he takes the cover off and the gasket is basically dry rotted/outgassed, so I wonder if a stop-leak addative that is supposed to soften up gaskets would help any? at 14:42 he does the crank seal but he doesn't do the oil pan or the tensioner O-ring. O-ring he says he can do whenever with it still in the car though.
Here's a vid of 2zzlow doing the timing chain cover with the engine still in the car, but it's a celica GT-S which seems to give a lot more clearance. 2nd comment down is someone saying they used this vid to do it on an 03 Matrix XRS!
https://www.youtube.com/watch?v=hFo0uLvyOdM
Somehow I think I could do it if I could get the engine out, but it might be wishfull thinking. Somewhere I also read that blowby could be responsible for causing this leak. Would a compression leak down test show that? Motor has 215k. I'm not a mechanic and the most I've done are things like tires, brakes, spark plugs, idler pully, tensioner pully, alternator and installed a manual timing chain tensioner on a motorcycle(funny how on motorcycles they're referred to as cam chains but on cars they're called timing chains) but I am pretty mechanically inclined and have some tools. Not a cherry picker though! Might go the in-car route?