It is true that Toyota has required ATF, yet put uncolored fluid in the P/S system. I suspect also, that the factory fluid is made much more cheaply than real ATF, my friends Scion TC had terrible deposits on the reservoir and dipstick after 30,000 miles, I never saw that much junk in other Toyota products that had real ATF.
And synthetic ATF in this kind of power steering system is always a great idea. I have done it to several cars and never been disappointed.