Originally Posted By: Audi Junkie
Yes, there are differences. Regular PSF is a downgrade. You specified no reason to switch either. ATF has a seal-swelling bias vs PSF. It has more and better additives, namely friction additives. Same with the base oil...better. Think of PSF as "SA" grade oil or Type-F ATF, it's just antiquated slop. If anything, upgrade the ATF in your steering system to synthetic ATF.
I don't know enough about seal swelling differences, but otherwise I fully agree with AJ. If ATF is acceptable I'd use it any day rather than regular PSF.