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Flush it
You will screw your steering system. You need to flush steering system ASAP. And of course do not drive with engine oil in steering.
You need to flush the power steering fluid on a 2003 Toyota Highlander every two to three years. You should check the fluid levels weekly.
I paid $ 129.99 at the GM dealership for power steering flush & fill with synthetic fluid.
Water in fluid as a result of leak or condensation. Time to flush and refill with new.
It takes special eqipment to flush the PS fluid. Get a turkey baster and suck all the fluid out of the PS reservoir and refill it. Do this several times and you will have effectively changed the fluid.
Where I work it costs $99.00.
have a repair shop flush the system and refill with the proper fluid.
Read the owners manual. It has that information.
My mechanic told me every 2-3 years, depending on how dirty the fluid looks.
You could get an oil change as soon as possible to flush the system.
To change the Ford Escape power steering fluid, drain any fluid from the reservoir by pulling out the stopper. One can flush the old fluid out of the system. Replace the stopper and add the amount of fluid recommended by the owners' manual.