I doubt you will find a lot of info on the subject since most people just check the level. PS is kind of a bastard child that doesn't get much attention.
All the PS pumps I've run into are a PITA to change the fluid on, so most people never do it. Some will siphon off what they can from the reservoir and refill.
I like to change all the lubricants (including PS fluid) after a good break-in period - 15k-30k miles - to get rid of break-in trash. After that, I tend to change a little more frequently than the manual calls for.
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