It is easy to drain the reservoir and clear the old fluid from the rack if you have access below the car. On the passenger side, disconnect the pipe that goes into the rack (may need a 'star' male tool for the bolt holding it in, don't remember for sure). Once the fluid has stopped draining, leave the catch pan under the rack and turn the steering wheel from lock to lock (without engine running) a couple of times to get all the fluid out of the rack. Then, put new fluid into the reservoir and reconnect the pipe to the rack when it starts flowing. Check to see that reservoir is full, start engine and stop promptly. Refill reservoir if needed, then with engine running, turn steering wheel lock to lock several times to be sure rack is full of new fluid (I prefer to do this with wheels in the air, so no resistance for the rack that may not be full of fluid). Check reservoir and refill to spec level if needed.
This completely purges the system of old fluid.