Ditto...as long as the fluid looks OK and isn't contaminated,I'd not worry about it..
My van has not been driven on road since late 2003 and I've started it up every so often to move it or just keep the engine free and hopefully keep seals from drying up and leaking...the P/S has never made a peep and works fine every time I've gotten it running..
Had the same experience on many cars we got running at the junkyard that sat "forever"..
GM says you can use "power steering fluid" which is usually a light amber color and you can see thru it--or Dexron II ATF,which is red,and will look like a strawberry milk shake if water gets mixed with it..
I've used both with no issues ,and topped off P/S with P/S fluid when it had Dexron in it and never noticed any ill effects..
Some claim the typical "power steering fluid" is just Dexron without the red dye in it,but to me it smells more like hydraulic fluid ..