I would be sceptical about service schedules. Manufacturers like to sell parts.
I used to change the PSF on my 90 every few years, and it looked dirty when it came out.
On my car now, I don't know if there is a recommended change interval, and I can't be bothered to take off the shields and gubbins in order to look for a drain plug on the power steering rack, which may not exist anyway.
So I use a small plastic tube to siphon out the reservoir of PSF, and replace the contents of the reservoir with clean fluid.
Do that a couple of times a year, it must be changing 90% of it every few years.
Fluid is cheap, power steering components aren't.