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VW seems to suggest that the synthetic mineral oil type (i.e., Pentosin CHF-11S or CHF-202) power steering fluid they use in the Mk4 Jetta (and maybe other cars, but those are the ones I know about) lasts forever – the only service requirements that I've found (Bentley manual) are to check the level every 40,000 miles.
Is power steering fluid a lifetime fluid? How can you "read" the fluid?
I don't know which specific fluid VW uses for power-steering, but many manufacturers use automatic transmission fluid, or something closely related to it.
Unlike the engine and transmission, the power steering pump will not heat up it's fluid to extremes, the only significant heat the fluid will received is from being in the engine bay.
Therefore, power-steering fluid takes years to degrade, mostly from oxidation. Read it like any other fluid, look for a dark colour or a burnt smell.
It's easy to flush, so if you're not sure, just go for it. On most vehicles, you just pull one of the lines, let it leak out then top it up. Steer left and right to get the fluid to reach all places. If you don't want to pull a line or if it's inaccessible, steal a turkey baster from the kitchen (do NOT put it back when you're done, just make-up a believable story), and just suck the fluid out of the reservoir. Top it up, drive around for a little bit, and repeat until the liquid looks good.
I believe "read the Fluid" refers to where the level 'reads' on the dipstick. But, Yes it is also a good idea to inspect the fluid. IF it is burnt smelling or discolored, it should be replaced. Much cheaper to change the fluids than changing damaged parts.
