I use one of those hand operated $15 transfer pumps found at almost any auto parts store or harbor freight.
then I just jack up the front end just enough to barely lift the front wheels off the ground, pump out as much as I can from the reservoir, then refill with fresh fluid, start it up, turn the wheels lock-to-lock several times, shut it off and repeat. 1st time it took about 1 gallon to get it back to really nice clear fluid. now I do this annually and it only take about 3 quarts.
I do it this way so I do not have to disconnect any fittings or hoses that have not been touched in 10+ years and are basically hermetically sealed.
easy-peasy