1998 Toyota RAV4 Used wrong fluid when refilling

This isn't worth panicking over. Power steering fluid and automatic transmission fluid are basically the same thing. Both are hydraulic oil but the transmission fluid is dyed red so the cause of a leak can be identified.

If you had to add power steering fluid, that implies there is a leak. That should be fixed first. The fluid is going to run out when parts are replaced, then refill it with the proper power steering fluid.