i've been running mobil 1 ATF in my power steering for about 40,000km now with good results. I purchased it from Canadian tire. I had pump starvation issues along with some noise. I cleaned and flushed the reservoir and flushed the system with the new ATF. It quieted any pump noise I did have. I check it frequently and it has created no leaks, after 40k, the fluid still smells new and looks like it just came out of the bottle. I'd recommend it.
although a filter isn't a bad idea, I think it should be mentioned that it could be considered overkill (I would). Toyota doesn't suggest a change interval, only inspection, and you'd probably be using a superior ATF to that of the factory fill. If you change it every couple years I'm sure you'd be way ahead of the game, before any sludge or particulate matter could consider forming. I am not an "expert" but seems like money could be better spent elsewhere.
Jdub, feel free to edit any part of this message or not allow it to be posted if you think I'm wrong.