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Unless you have a power steering assisted brake booster more common with a diesel, you may have a new pump issue like the flow control valve in the pump or air in the system yet, check for air bubbles or a milky looking fluid and the correct fluid. Try in a parking lot out of the way of traffic to put in neutral while moving,rev the motor slightly and brake as you would when the PS assist stops,by revving the motor just off idle this will increase the PS pressure it should act normal if it's a flow control issue and if the pump is capable of producing the correct pressure.
At a stop......Try revving the engine up with the brake on.
If you get your power steering back.... Replace the pump.
I have had this issue twice on my 2000 Oldsmobile Intrigue over the years. Would loose power steering at idle off and on. (Very dangerous) New pump always fixed it.
On a 1996 3.8 L Should be under the power steering on the block. Looking at the pulleys on the right side just above the oil pan. This would involve removing the pwr steering punp and hoses.
I don't know if a 2003 is different.. You could inspect the area visually to check it.
To get to replace it...
96 - 98 windstar 3.8 oil pressure switch is located under power steering pump. Remove serpentine belt and alternator. Remove PS pump pulley with special puller to get access to PS pump bolts. Drain PS pump and remove PS hoses. Remove PS pump.
Replace the ps pump, brake fluid is not a lubricant, your pump is scored, raise the van, block it, remove the sheild, belt and right axle, and remove the pump, you will have to flush the system with 4-5 litres of PS fliud only. GOOD LUCK, RDJRP
you need to pull off wheels,brakes, rotor /unit hub bearing, both axles and intermediate shaft, as well as the vac disconnec ton the front axle tube. if only the right side leaks then only then only pull the right axle and intermediate shaft and vac disco. it is a trick with a miller tool to replace the seal. the left side seal is inside the diff and the carrier has to come out to replace it. pete