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I just suck out the PS reservoir and refill it. I do that each time I change the engine oil. I know it isn't a drain and refill, but it does keep the fluid clean. Probably this is changing it more than needed but DIY makes this relatively cheap.
We also have a Lincoln MKX and the maintenance manual has instructions for changing the transmission oil as a drain and refill method rather than a flush. They say to drain, refill and drive it - and do that 3 times and that will constitutes a Tx oil change. So to me - the same rationale would apply to the PS system. Kind of reminds me of "the solution to pollution is dilution".
I had a shop do a complete fluid change. Track days really take a toll on the fluid, it was starting to look like a paste more than a fluid. They just drained it from one of the bottom hoses, took off the reservoir and washed it, put some new fluid in, then I turned the tires side to side until the whining stopped while they kept adding fluid. Took about 15 miinutes.
I've just done the turkey baster method.
Suck out what you can, refill. Run car turning steering wheel from lock to lock a few times. and repeat until the quart of trans fluid you used is gone.