Power steering fluid from the manual:
ATF M-III, M-V, or equivalent (e.g. Dexron II)
From my experience it does get "old". I just changed out a quart in my jeep and the steering went from being really tight to nice and easy and more responsive. Worn out fluid in my experience is most noticed when it is hot outside.
Any recommendation on the interval?
I assumed that you meant only change, i.e. suck the existing fluid and refill with the new one, instead of flush? Thanks.