It's Dexron III ATF, and was the factory fill on our G. I like the Mobil 1 version myself. I use something similar to this suction gun, and it's especially useful on the G since I need to pull fluid out through that small hole in the tank.
http://www.harborfreight.com/c...95468
It's a little confusing because the owner's manual specifies "genuine Nissan P/S fluid" but the footnote shows that Dexron AFT is OK too.
http://www.infiniti-techinfo.c...5.pdf
By the way, ATF is the specified fluid in your Q as well.
Heath