ATF or power steering fluid will degrade rubber that it stays in contact with. An unknown to me, ATF leak caused an airbag to fail on my coach. The rubber in the airbag was severely softened where the ATF had soaked it.
Some petroleum based degreasers also have the same effect.
I would use the simple green or dawn approach and rinse well. If it is on air bags, rubber connector on height control valve, or belts and hoses, I would go to the extra trouble of scrubbing with simple green/dawn.