I've never changed the power steering OR brake fluid on any vehicle I've ever owned - but there are sure a lot of people around here that recommend it. Coolant, tranny fluid, diff and transfer case fluid, that's a different story.

If you WANT to change your brake fluid, the time to do it is when you are doing the brakes anyway. If you WANT to change the PS fluid, use a turkey baster like I said, no need to completely flush it out.

 

Certainly, at 100k miles, most ll of the fluids should be changed. The dealer is probably the most expensive way to get it done. I do all of the fluids every 50k, but I do them all my self in my garage. It costs about $200 to do everything myself....oil, transmission, rear end, power steering, brake fluid, radiator flush, spark plugs, + all associated filters. Lots of folks think this is overkill, but my last F250 v10 went 240,000 without an issue and my son-in-law is still driving it and towing a 5th wheel..

 

I would also check into the front and rear diff. as well as the transfer case if you have a 4x4. I had mine done at 45,000 along with the plugs and the old fluid in all three was NASTY.

 

Yeah, I have never replaced power steering fluid, but brake fluid I have done many times. I normally just turn the full bottle of fluid upside down into the master cylinder then bleed all four corners till the fluid runs clear (could take several bottles). The use of the vacuum bleeder makes this a one man job and a piece of cake. Not fancy or high tech, but I dont think it needs to be. Anyway, the point is, shops charge big bucks for this work and most can do this in their garages.