There aren’t any test strips for power steering fluid, so you’ll have to rely on the manufacturer’s service recommendations or general rule-of-thumb (two years or 24,000 miles). Use the turkey baster method to remove the old power steering fluid. Suck out all the fluid (engine off) as shown. Then refill the reservoir with fresh fluid. Start the engine and let it run for about 15 seconds. Repeat the fluid swap procedure until you’ve used up the full quart.
Note: Never substitute a “universal” power steering fluid for the recommended type, and never add “miracle” additives or stop-leak products. They can clog the fine mesh filter screens in your steering system and cause expensive failures.