So I know it has been a while, but in case this is still a problem for anyone and for future reference, I found that I have been doing the bleeding procedure incorrectly - and most of the YouTube instructional videos are too. I found the proper procedure in the FSM and I'm posting it here.
BLEEDING THE POWER STEERING SYSTEM
After replacing the fluid or servicing the power steering hydraulic system, you must bleed air from the system. Air in the system prevents an accurate fluid level reading, causes pump cavitation noise and over time could damage the pump. To bleed the power steering system, proceed as follows:
1. Begin with the engine off, front wheels off the ground. and wheels turned all the way to the left.
2. Add either standard power steering fluid or optional cold climate fluid, to the "FULL COLD" mark on the fluid level indicator. Refer to MAINTENANCE AND LUBRICATION (SECTION OB) for information on power steering fluids.
3. Bleed the system by turning the wheels side to side without hitting the stops.
! Important
This may require turning the wheels from side to side several times. Keep the fluid level at the "FULL COLD" mark. Fluid with air in it has a light tan appearance. This air must be eliminated from the fluid before normal steering action can be obtained.
Start the engine. With the engine idling, recheck the fluid level. If necessary, add fluid to bring the level to the "FULL COLD" mark.
5. Return the wheels to the center position. Lower front wheels to the ground. Continue running the engine for two or three minutes.
6. Test the vehicle to be sure the steering functions normally and is free from noise.
! Important
Inspect for fluid leakage at connection points along the power steering system.
7. Recheck the fluid level as described in Steps 3 and 4 except that the fluid level should now be up to the "FULL HOT" mark after the system has stabilized at its normal operating temperature.