I have a 1994 lexus es 300,I can hear the power steering whining a little but my fluid smells burnt.is my pump going bad or should I just change the fluid.I have no problem steering it feels great.

 

Drain and fill the fluid first.
Then check for noise, most power steering systems whine either becuase there is a restriction in the system... Like a clogged filter/screen or because the fluid level is low.

You can also use the advanced search function and select the ES forum to get more detailed info.

 

If its making noise, it's likely to already be fried. You can try to flush the fluid, but in the end, you are going to need a new pump.