ZF and Power Steering Flushing

I have searched the forums a good bit but not have a definite answer. I currently have the front bumper off the car and core support hanging, I have access to the star bolt holding in the power steering cooler in front of the ac condenser. If I am to flush would this not be the best place to drain from? Thinking of putting a bucket under this and turning the wheels while in the air engine off to pump out the fluid? I am slightly naive on the best practice for PS flush…

Now regarding the ZF flush, my trans imo, shifts perfect, car has 130K on it. I would like to flush before it is not shifting perfectly. So is it true that I need to loosen / drop the exhaust to remove the trans oil pan?! Any tricks?

https://12v.org/urs/C6%20S6%20ATF%20Fluid%20Change.pdf

This might make me wait to do this…