WARNING: This page is about a different car, the 2004 Suzuki Verona. However, it is still accessible from the selected car via links, so may be relevant.
Fig 1: Foaming Or Milky Power Steering Fluid (Air in Fluid) Diagnosis Chart
Courtesy of SUZUKI OF AMERICA CORP.
Fig 2: Low Pressure Due To Power Steering Pump Diagnosis Chart
Courtesy of SUZUKI OF AMERICA CORP.
Fig 3: Low Pressure Due To Power Steering Gear Diagnosis Chart
Courtesy of SUZUKI OF AMERICA CORP.
Fig 4: Groaning Noise In Power Steering Pump Diagnosis Chart