My power steering fluid has been leaking since I got my RDX last year. I ended up fixing my problem by replacing both O rings. Before I changed them, I emptied out the fluid from the reservoir using a pump from a soap dispenser. Then i filled it back up to the Max line with Seafoam Transtune. Then I started the car up and drove it around the block and came back and turned the wheels L to R a couple times all the way. Then I turned the car off and emptied the reservoir again and filled it up with new fluid. It hasn't leaked since and its become a lot smoother.

 

Replacing both O-rings sounds like that where the leak may have been coming from. I don't know what the Seafoam would do as far as just emptying and refilling the reservoir with fresh power steering fluid. Sounds like two different items being done here. One fixing a leak, and one attempting to "flush" the power steering fluid system. I guess if you replaced the O-rings, some of the power steering fluid in the pump would have come out as well so partially doing a drain and fill. Did you notice a leak at the O-rings?

 

there wasn't a leak per say but the fluid in the reservoir was swooshing around. it is not doing that any more. The seafoam i believe just cleaned through the system and when i emptied out the reservoir it was a lot darker again. As of now, no more leak and the fluid is still pretty clean.

 

It would have been a lot darker if you only emptied the tank because a lot of fluid is still present in the rest of the system. Typically you'll pull what you can from the tank, but then remove and point the return hose into a small bucket (a little plastic tubing goes a long way), lift up the front of the car slightly and have someone start the car and slowly turn the wheel from lock to lock. This will force our the rest of the fluid. Kill the car as soon as no more fluid is coming out, since you obviously want to limit the strain on the pump while system is empty. Then re-connect return hose, fill tank, and repeat the procedure, adding fluid to the full mark until there is no more bubbling. Since you did another drain and fill after your drive you probably still got a majority of the dirty fluid out, but the above process will get you a very good flush of the system.