i was told I did need to change it cuz it was all dirty and shit...the guy showed me new fluid from a bottle, which was clear, the one in my reservoir was a deep yellow. So I was told that it would be a good thing to flush it out and replace it with new fluid.
here is what I have read: you should do it with the engine not running the to prevent damage to the steering pump by running dry , disconnect one of the hoses and put it in a bucket and then slowly turn your steering wheel left to right to push the fluid out, then refill and start again if you really want to get all the dirty fluid out
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