Power Steering Problems on 1999 4 cyl Tacoma

I'm new to this forum, but not new with the tacoma. I'm on my 3rd truck since 1985, but this is my first time with a steering problem that I have. The steering seems stiff and there is a delayed response to direction. The fluid is dark brown but the level is up full? The alignment is good so there is no wandering with the hands off? Any suggestions on the power steering?
Thanks

 

Sounds like it could use a fluid flush/change. As well there is a filter/screen that gets clogged in the reservoir that can restrict flow in the power steering system.... (that one stumped me for a week before i found it)-
hope that helps.