Either use ATF 4 for Chrysler vehicles, or the correct Mopar power steering fluid. Don't use general ATF or PSF. Make sure it specifies for Chrysler vehicles. I bought Castrol ATF+4 because I like Castrol, it was on sale, and my transfer case takes it too, so the extra fluid wouldn't go to waste.
For the flush, disconnect the return line to the master cylinder. It is the line coming from the steering box. The high pressure line is going to the power steering pump. I accidentally disconnected this one instead...
Catch the fluid coming out of the master cylinder, and put the low pressure hose/return line into a bucket. Turn the wheel with the Jeep running, then refill as needed.