Power steering noise? Help

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Florida
#1
I have what sounds like a power steering noise when I first start the car cold for the day. It lasts about 60 seconds or until I back out and turn the wheel one time, and then goes away and doesn't come back. Sounds like a pump/motor sound. If the car has been driven within the last 1-2 hours it doesn't make the sound, only when it is cold.

The belts were changed recently, and today I am going to check the PS fluid. I have read to use ATF fluid... Is there an easy job to flush out the current fluid. On my Mercedes diesel it was super easy, but this engine compartment looks a little tight.
 


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