This is what I did to replace the P/S fluid for my 04 Tibby.
I used a hand siphon pump to take out the P/S fluid from the reservoir down to the middle of the reservoir. I poured in new P/S fluid then drove the car around for 2 days. After 2 days, I repeated the process to eventually replace the old fluid with the new one.
I used a total of 2 small bottles of P/S fluid that I bought at the local Hyundai dealership.
I learned about his method on the Internet. I don't have the link, ATM, but it was from a reputable auto site.
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