I had a '95 Camry V6 that didn't have a leak but would be very stiff on colder mornings and there was a noise of some sort I don't recall anymore.
I want to add some caution to using the trukey baster approach, with the caveat I haven't had that car since 2002. IIRC the PS pump is remote from the resevoir. It isn't like a usual American pump with the resevoir and pump all in one place. You can end up with a sizeable quantity of old fluid in the system no matter how many times you "baste".
The approach I recommend is what I used. Whether you add a bit of AutoRx is up to you (I didn't use any because I wasn't aware of it, if it even existed then). I ran the car up on ramps so I could get to the rack while the engine was running. There are the two lines (pressure and return) that run to the rack, more or less in the middle of the rack as I recall. GENTLY loosen one of them just a bit; the idea is to create a "controlled leak" of the fluid. Place your favorite oil change catcher beneath the line and start the engine. If there is no leak, SLOWLY loosen the fitting JUST ENOUGH until the fluid starts to dribble in a tiny stream out of the fitting. DO NOT REMOVE THE FITTING (unless you want to wear ATF).
It won't take long to drain the system, and you won't hurt the PS pump as it isn't running fast or long and there is some fluid still in it to cling to the important parts for a few minutes.
I added Mobil 1 ATF to the system. It's more viscous than some, but is also thermally stable on cold mornings. That alone might solve the leak. but if you want to try AutoRx I doubt it would hurt and might well help. I'd make sure to flush it like I just suggested, though.
Good luck and keep us posted!