The Red October

I have been to a couple of quattro club driving schools and I wonder if I should change my power steering fluid. The car is a 2001, and I don't really hear a moaning/groaning like some others have, but when the steering wheel is turned about 180 degrees to the left or right I get a faint vibration/rubbing feeling when barely turning the wheel in the 175 to 185 degree range. I can also hear a faint creaking noise coming from the steering column at the same time.

I checked the PS fluid and it is very dark, and has a burnt smell. I never checked it before so I don't know how it should look/smell... I never turn the wheel to full lock and keep it there for several seconds, but I am thinking the hard corners like carousels may have taxed the fluid beyond its usefull life.