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ATF and power steering are similar but still different. Power steering fluid is like hydrauilic fluid with some different additives, ATf more so, its not just the color thats different. In a pinch yeah, you could use ATf but if power steering fluid is recommended, i'd use that and not something else.
Why, because maybe toyota tested ATF in the power steering system and found out ATf attacks seals or bearings or does something else bad. Toyota might not bother telling you this, they will just say "use power steering fluid." So i say, just use exactly what Toyota says to use and not get creative.
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