Is it slinging oil from the shaft? If so, you can probably just replace the seal and it will be good.

The original seal in cars of that vintage do not last the long term if using modern ATF. ATF formulation changed since the time of that cars manufacturer. It is possible that a new seal would not be susceptible to Mercon/Dexron "poisoning" but there are other seals in the system. If you insist on using ATF, find some type A. What I have found to work best is plain old Power Steering Fluid from the parts store.

Hope this helps.

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2001 SLK 320 six speed manual
2014 Porsche Cayenne six speed manual

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