Power Steering Fluid change - how to?

[finall]

I recently looked at the power steering fluid on our 07 H2 when the car went in for a seal replacemement on the PS box. They fixed it under warranty, but did not change the fluid. It is brown, and smells a bit burned (same as before and after the fix). What color is it from the factory, red?

I would like to change it. What is the best procedure to get as much of the fluid out of the system as possible, without dismantling everything? This I assume would include emptying the reservoir, PS cooler, and maybe the lines and PS rack? Anyone have a step-by-step procedure for a complete flush?

Dealer wants over $300 for a "flush". Do they have special "flushing equipment"? It can't be that hard to do, is it? And the fluid is cheap....

Please Help!