My wife's 4runner had 141k miles on it and her PS fluid was dirty - we bought it used in 2011 with 105k miles on it. We had never taken it off road (other than dusty roads). She drives mostly highway. Anyway, wasn't paying attention the 1st time I flushed it and used regular PS fluid :doh:. Steering felt heavy afterwards and realized you're supposed to use AT fluid (Dexron 3 I believe). So I pulled the resevoir and cleaned it by hand (because it was dirty) and flushed with about 3-4 quarts of fresh AT fluid through the system. I did it on the ground which made it tough, I would recommend lifting the front end off the ground. There are a ton of write ups out there, which ever works best for you. I did it the quick and messy way but it worked all the same.
Before:
After: