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I just replaced the rubber power steering hose that goes from the pump to the rack. I tried to cover up as much as possible to avoid dripping fluid into all the cracks and what not, and removed the connection at the pump first. Its 17mm, and all I had that would fit in there was a POS crescent wrench, but it worked. I would get one of the small half moon shaped wrenches to give yourself more room. I dropped that down and immediately put a funnel ziptied to a crossmember to hold it in place so it would drain into my oil drain pan. When I dropped the hose down I let it sit in the oil pan. I didnt measure how much fluid came out, but I dont think it was anywhere near a quart. I then removed the other side (at the rack), thats 19mm socket and I had a socket wrench that bends at the head and halfway through the handle, that was helpful. Not a whole lot of room with anything on the X5, I'm finding. Not too much fluid came out of that area. There is a 10mm (I think) nut holding the bracket at the U-bend of the hose (passenger side). Put the new one in and tightened it all up.
I had some Amsoil ATF left so I used that. I had the front jacked up, and added fluid. Slowly turned from left to right an back again. Checked the fluid, added more. I think I did that three times. At first there was some groaning but by the third time it was silent. I'll drive it tomorrow to work and check it when I get home (about 80 miles round trip).
I saw your post today right before I started and was hoping that there was a reply with some detailed info, but no joy. So I went ahead and it wasnt too bad, other than the almost non-existent working room. The mess wasnt as bad as I thought it would be though, and I probably saved a ton over what the dealer would have charged.
Good luck!
I had some Amsoil ATF left so I used that.
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