I changed mine.
My 2004 had 40,000 miles on her when I changed my power steering fluid. I followed the procedure listed above by breaking that connection in the under car line. I refilled with factory fluid. I immediately noticed a better steering feel. It’s hard to describe, but she definitely steered better.
I did it in 2016. So she had 12 years on the factory fluid.
I’d just do it.
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550 SE #310---"It's more fun to drive a slow car fast, than a fast car slow."
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