remember- your ST uses automatic transmission fluid for the power steering fluid. It is red. Not clear like most power steering fluids. It will turn a little dark. But that does not nessisarily mean it is bad. Shine a flashlight down in there or "turkey baste a little out a look at it. Smell it. If it smells burnt. Change it. In general the reccommened interval is 2-3 years. But, I dont belive Ford reccomends it at all. At least not in there manuals. Unless you have a whine/groan like Calahan mentioned its probably fine.
Like Eddie said. Have you inner and outer tie rod ends checked. Actually, have the entire front end checked. Wobbling is not good!
Can you describe the "wobble" a little better? Could also be unbalanced tires,loose lugs nut(yikes!)ect..
Your wobble issue is nor related to the PS fluid.