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I just used a turkey baster with a 4" section of clear plastic tube jammed onto the end. Needed the tube to get more depth in the PS reservoir. Then just suck it out. I got about a half qt this way. The drove it a while and did it again.
I noticed that if I don't keep the reservior full to the top line, my PS will get louder. I still get some noise at full steering wheel turn but it is better than before. Didn't take adding much fluid to improve noise. Good luck......