Just curious, why do you need to change the power steering fluid?
First thing to do is to buy a gallon of power steering fluid from a auto parts store. They have power steering fluid in tiny cans, enough for one top-off, and they have it in gallon cans. The gallon cans cost very slightly more than the small cans. Also will need an empty gallon milk jug, or similar.
Then get a turkey baster. No, not your wife's turkey baster, but one just like it, and keep it in the shop area. It's handy for lots of projects.
Next, suck all the fluid out of the reservoir you can reach with the turkey baster. Then refill the reservoir.
Repeat this process every Saturday until you've used most of the gallon of power steering fluid. Actually, this won't ever change ALL of the power steering fluid, but it will get most of it.
As far as I know, most power steering systems don't have a drain built in, so it's not as easy as changing your engine oil. OTOH, my 1995 minivan had a huge leak. I simply kept two gallons of power steering fluid in the garage, another in the back seat, and topped off the reservoir every morning. That van probably had the freshest fluid of any vehicle on the road.
All the lines on the power steering system are under lots of pressure. Don't ever loosen a fitting to drain the fluid, unless you really know what you're doing.