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The 2004 Lexus ES330 will require a power steering fluid intended for use in European vehicles. While many cars these days use a multi-vehicle power steering fluid, the original Dexron transmission fluid specified for this model is no longer available. You can opt for Dexron VI as an alternative, which will provide similar outcomes. The total volume needed will be around 2 quarts, which means you will need to purchase several small bottles or one large bottle.
Your 2004 Lexus ES330 needs Dexron 2 or 3 power steering fluid to function properly.
The recommended power steering fluid for the 2004 Lexus ES330 is the Pentosin brand.