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I just noticed the lid of the pump says to use only Type "A" tranny fluid. I have put in generic prestone power steering fluid a couple of times. Is that OK or have I messed up something like seals?
You are fine. The warning on the cap is so that you wouldn't use Type F transmission fluid which can destroy the seals. The cap says transmission fluid because it was produced in the days before dedicated hydraulic fluids were marketed for power steering systems. With all the different transmission fluids on the market today, I pitty anyone trying to stay faithful to the original directions (Dexrons, Mercons, Toyota, Type A, Type F...).
The Saginaw power steering pump is actually quite tolerant of a lot of types of fluids. Having said that, here is the disclaimer. The Saginaw pump, power steering hoses, and all the seals in the gear, booster, and control valve have all been tested by Saginaw Steering for compatibility with the GM power steering fluid. This is the fluid that is available from all GM dealers.
The other "power steering fluids" may meet some generic fluid tests but the GM fluid is the only one that has undergone tens of thousands of laboratory tests and millions upon millions of vehicle test miles. It is the only fluid that has been specifically formulated to operate with the Saginaw pump.