I replaced the fluid in my 2010 SX with genuine PSF-4 this morning because the car came back from the dealer with redish fluid in the reservoir instead of green fluid it had before.
Buy PSF-4 fluid from Kia or Hyundai dealer. Retail is about $8.50 per bottle. Buy two.
1. Better to have the front wheels raised to make it easier to turn the wheels later
2. It's better to remove the reservoir to make more room. Have lots of rags and small container ready.
See the picture below
3. Remove the two screws holding the reservoir.
4. Put some rags under the reservoir and unclasp and remove the tubing that you see in the picture. This is the line that pushes fluid back into the reservoir.
If you are game, remove the another clasp/tubing that sucks fluid out of the reservoir on the other side of the picture and completely remove the reservoir.
Remove the cap to drain all the fluid in the reservoir
5. Have a container ready and hold the tube that will push out the fluid into the container.
6. Have a helper start the engine and turn the wheel end to end. This will push out the fluid. It's easier to turn the wheel with the front wheels raised and on jack stands.
7. Repeat the turning until you don't see much fluid coming out. Stop the engine.
8. Clean out the area before you assemble.
9. Assemble the reservoir into the holder and attach and clasp the tubes.
10. Top off the reservoir with new PSF-4 fluid. Start the engine and pour in the fluid as it gets sucked into the power steering pump.
11. When it doesn't suck in anymore, turn the wheel end to end multiple times to bleed air. Re-fill the fluid as necessary.
12. Tighten the cap and you are done.
13. Test drive. You still may have a bit of air. It will get bleed out as you drive around.