Any need to change powersteering fluid? Best method?

In my Z06 I would simply take a turkey baster to the reservoir before each HPDE and refill with Redline synthetic fluid. That car has a PS cooler too so I never had any issues.

I'd rather not disconnect the PS cooler if I don't have to. Would periodically sucking the reservoir/pump out and topping off w/ fresh fluid suffice?

How full shold these things be? The little clear tube reservoir is a bit odd looking.

Servicing any fluid system is a good idea. You have the right idea on how to service the power steering unit. There is one thing I would add to your procedure and that is after you suck out and add more fluid is to start the car and cycle the wheels three or four times than suck and add more fluid. Do this until the fluid is clear.

David