Mopar power steering fluid is recommended. Just about all PS fluid you find today is formulated to fullfill all three specs: Ford, GM, and Chrysler/Mopar.
I doubt if any damage was done, but I'd recommend draining the ATF and replacing it with PS fluid. Both are basically hydraulic oil, and in fact many Ford vehicles spec M/D III ATF for use in power steering. The only differences would be in the 'seal-swell' additives used in the PS fluid vs ATF.