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The brake fluid level naturally lowers as the pads get worn down (less pad material means the calipers are pushed out, which draws down the fluid level).
It's no problem to top off the brake fluid with new fluid.
As for your power steering, I'd suggest pulling out the cap and dripping some of the fluid onto your hand. If it's dark and thick, you may want to flush the fluid. The correct way to do that is to remove the bolt holding the reservoir onto the frame, pull the two hoses off, and clean the reservoir out with something like brake cleaner. The easier but less effective method is to use a syringe and suck the existing fluid out of the reservoir and fill it back up. You need to do this and then turn the car on and turn the tires left/right a few times to cycle the new fluid through the hoses. It will take several drain and refills to get the fluid clean again.
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