Did it last week, but my wife's 2002 Honda Civic LX with about 65K miles.
Previously added Honda PSF to top off from the min line to the max line and that quieted the power steering whine until I had the time to do a full purge.
The only tools needed were 1/2" O.D. flexible vinyl tubing and pliers. Optionally I used my baster to suck out the initial contents of the reservoir and some tape to tape down the bottle to the inside fender and to tape the tubing to the bottle (it can shoot out). Removed the return line with very little spilling out. The tubing was the perfect size but had to be wedged in there and didn't need any tape.
So start the engine and I can see the brownish fluid coming out. Turn lock to lock a few times and even more came out. No massive groaning sound. So once it's almost all out I stop it, put everything back in place and fill the reservoir with Honda PSF, starting with the initial fill above the max line. About 2 more times and there's no air in the fluid and the level is stable at the max line. It self purges itself of air quickly as long as there's no leak in the seals.
All in all less than 2 12 oz bottles of Honda PSF and costs less than $10 in parts (tubing is cheap although the OEM PSF is kind of pricey). A dealer or shop might charge anywhere from $40 to $100 (or more) to do this.
If I had to do it again, I'd have an assistant hold the tubing and bottle. The fluid doesn't come out with a whole lot of force (service manuals show an open wide jar for collection), but the tubing can shoot back and spray the fluid. The tubing partially shot out but stayed in the bottle.
