if it was a very small amount, like a few drops it shouldn't matter, now if you put in like half a container it will, your jeep probably holds 5 quarts of transmission fluid and a small amount of power steering fluid shouldn't be too bad for it.
I would not get too concerned. Like was already mentioned, power steering fluid and automatic transmission fluid are about the same thing, hydraulic oil.
There are likely some differences in today's fluids, but in the past, trans fluid was made red so you could tell what was leaking.
A manual transmission runs on gear oil which is alot
thicker than automatic tranny fluid(which is close to but just
a little thicker than p.s. fluid)
it may cause separation between the gear oil and the gears
resulting in hotter temps and more wear on internal gears.
also causing hotter internal temps,and we all know what
heat can do to a motor...It does the same in a tranny.