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On a 2009, the ATF is SUPPOSED to be a lifetime fluid. No need to service it unless you have an issue with the trans. As for power steering, I believe its recommended every 36k, but I never changed mine until I built the motor and everything (I was around 70K). When I dropped the motor back in i flushed it and put all new fluid in it, however the old fluid looked fine. Up to you on that.
Heres the TSB on the WS fluid. TC's from 07-up used WS. 05-06 used the older T-IV ATF which followed a standard service interval. According to the TSB it should be inspected at 100k but never actually serviced/flushed. Funny enough, the trans itself didnt actually change. When I boosted my auto I drained the WS fluid, flushed it, and put in Royal Purple Max ATF which qualifies as a T-IV. It helped alot with the shifting under full throttle. WS is designed to be longer life and more efficient, but seems to not do to well in harsh conditions.