2004 RR-HSE (Power Steering Fluid flush/hose replacement)

[NhudeST]

I was wondering if anyone out there has or is aware of what mileage or after how many years the power steering fluid on a 2003-2005 RR-HSE has to be serviced at? I purchased my vehicle with about 45K and that's one of the things I have not been able to do yet, by flushing out the old power steering fluid. Any recommendations on what type of PS Fluid to use? Or steps needed to do in order to get it done, besides simply disconnecting the hose, draining it and adding new fluid? All suggestions and help provided would be really appreciated. Thanks.