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Technically, once it starts turning brown you should replace the fluid.
While power steering systems can function a LONG time with dirty fluid...my last corolla's fluid was nearly deep brown and chunky before problems arose, and even then it was only when extremely cold...there is more of a strain on the pump when the fluid is in poor condition. The cost of fluid is naturally much less than the cost of a new pump, and possibly more components later on.
Use something like a small turkey baster to take fluid out of the power steering fluid reservoir, and refill to the full mark. Do this every day/every couple days until the fluid is mostly cherry red. That's the equivalent of a system flush if you don't want to pay someone to do it for you.
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Toyotas in the family/next of kin:
1982 Corolla Wagon, 1989 Corolla DX, 1991 Previa LE, 1993 Previa LE,
1993 Pickup, 1994 Corolla DX, 1995 Avalon XL, 1996 Camry XLE, 1998 Avalon XL,
1998 Sienna CE, 1999 Camry XL, 2000 Camry XLE, 2002 Tundra, 2003 Tundra,
2003 ES 300, 2004 Camry XLE, 2005 Tacoma
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