I have PDF Field Service Manuals. But, for some reason, I can't find the section referenced as "Power Steering Pump Replacement".
In case it helps people with Hydroboost brakes... Similar instructions, but involves pumping the brake pedal at a certain part of the process.
Autozone has some additional notes for the Tahoe regarding systems Hydroboost brakes, which need to draw fluid from the power steering system. They have some notes about pumping brake pedal to bleed out the Hydroboost master cylinder.