does power steering fluid need to be changed?

I have just done the occasional remove fluid with a turkey baster and put in new fluid.

I recently had to replace the power steering pump on my fiancé's 94 Cavalier work beater and I actually flushed the entire system, sucking fluid out of the return line with my Mityvak vacuum pump and that worked very well. I basically only did that for the pump warranty and because the previous pump basically grenaded itself and the fluid had a lot of sparkles in it and I wanted to get as much old fluid out of the steering rack as possible.
 
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