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That, of course, leads to pump starvation and the eventual demise of the pump and, possibly, the steering rack. When servicing a late-model Chrysler power steering system, the carmaker recommends using genuine Mopar fluid or an equivalent. In a pinch, you can also use ATF+4 transmission fluid, with no ill effects.
If it is a red color, chances are it's ATF. ----After doing some searching, I'm finding references to the 96 Altima running ATF as the Power Steering Fluid. Nissan uses a properity fluid called Nissan Matic D, however, you can substitute Matic D with regular Dexron/Mercon fluid. Still check your owners manual.