My previous vehicle (Jeep) when the power steering fluid got dirty, I almost hit a parked car because it lost power just for a split second while making a hard left turn.
I got home, changed the fluid and kept it changed every 50k miles after that and never had a problem again. Until that vehicle I had never regularly changed p/s fluid in anything else that I had owned. The Jeep also had the radiator fan run off the power steering pump.
I have a question about these 4Runners, what powers our power brakes? I see no vacuum booster, so I assume it must be hydraulic power. Does it come off the power steering pump? If so, I would definitely want to keep the fluid fresh.