When I had my 4runner in for a tire balance about 2 months ago, they were hurting for business so out of empathy I let them change the power steering fluid. I didn't bother to check what they put in, just asked on the way out and they said "synthetic power steering fluid", which I surmised would be ok. Fast forward to yesterday, I started the 4runner and the power steering system was moaning / groaning loudly, got worse when I turned the steering wheel. After I did my homework and found Dexron III ATF fluid is what they should have used, I decided to change it out myself. Luckily I had 2.5 quarts of Valvoline MaxLife ATF (marked as suitable for Dex III & IV replacement, and "Toyota") left over from my previous ATF fluid change. I basically took the steps in this video:
SIMPLE Power Steering Flush Toyota 4Runner √ Fix it Angel with a couple exceptions: (1) I jacked up the front end off the ground so the wheel would turn more easily, (2) I suctioned as much fluid as I could out of the reservoir (be careful to not damage the screen in the reservoir), and (3) I never bothered to start the engine. Turning the steering wheel side to side pumped out the old fluid and pushed through the new stuff. That also helped contain the mess and kept air bubbles out of the fluid during the exchange. The moaning / groaning is gone. Hopefully I caught this in time and the seals were not damaged.
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Currently Own: 2001 4Runner SR5 4WD, 2015 VW Jetta SE TSI, 2013 Chevy Volt
Why I bought it: http://www.toyota-4runner.org/2190029-post764.html