power steering fluid and brake fluid

take a look at your reservoir, is it nice and transparent yellow? if it's black and filled with black seal crumbles, yes---have it changed, please do not risk our safety (those that share the road with you) and take unnecessary chances with your brakes, the world does not need any more chaos~

...also your power steering utilizes rubber hoses that can and will degrade with time, see how supple they are, whether or not are covered with oil and give 'em a squeeze with pliers to see how fragile they are~

The fluids should be changed but the dealer may not be the most economical place to have it done.

Absolutely, YES for the brake fluid. Your owner's manual likely says every two years. Brake fluid is anhydrous. It absorbs water. As it does, the boiling point lowers. If your fluid boils, you will find yourself with no brakes at all. Also, the water can damage the accumulator and pump for the ABS, and that is EXPENSIVE! The power steering fluid also lubricates the pump and steering rack. Much cheaper to maintain the fluids than change a rack needlessly.

take a turkey baster and remove fluid from the top will not get all fluid out the first time but will allow a change of new fluid to start to circulate in the pump

Does it matter what kind of fluid in power steering

I got a 2006 Avalon a couple of years ago with 101000, I did all the fluids. As someone mentioned, braking and steering are you 2 most important safety functions on a car. Do it.