FlexMy04,
I agree with maraprice73's recommendations. It's a very easy process and only takes a few minutes. Repeating the process after a few days of driving will probably replace about 95% percent of the old.
And just for the record, between you, me, and the lamp post...I have rarely if ever flushed or changed power steering fluid in any of my cars....and never had a power steering issue in any of them. I am 66 years old and have owned about 30 cars in my lifetime, and most had power steering....I have had vehicles with well over 165K miles on them, So if dirty power steering fluid was a big issue, they would have put a filter in the line.
There is certainly no harm in changing the fluid yourself, and it probably is a good idea to do it, but only if you do it yourself. By doing it yourself, you can save yourself some money and don't have to leave your car at a dealership or shop for a day.
...Rich