Our steering systems are a bit different. It's basically the same, but no need to start the truck.
First lift the front of the truck so both wheels are off the ground. find the power steering reservoir. the smaller of the two lines is the return. with a syringe or vacuum pump remove as much fluid as possible.
Disconnect the return line, and plug the nipple. connect a piece of hose to the return line and run the other end to a container for used fluid.
now refill the reservoir with new fluid. Without starting the truck slowly turn the wheel lock to lock while keeping the reservoir full. when the fluid coming out looks like the fluid going in you are done.
I did this last week and it worked great. I use mobil 1 DTE24 hydraulic oil for power steering systems, but I'm sure someone will give me flack for that. In my experience it works quite well, and you can see contaminants in the clear fluid easier than a red ATF.
