Do you have morning sickness? No, not you! Your car! If the power steering of your car feels stiff when you first start it and once you've driven a while it loosens up, it has what is callled "morning sickness." GM vehicles are most notorious for this situation. It is caused by wear in the spool valve housing on the power steering rack.
When a car is started the rack is cold and clearances in the spool valve are great. Hydraulic pressure from the power steering pump leaks past the grooves worn into the aluminum spool valve housing which causes a loss of pressure and makes steering more difficult. Once the car is warmed up, the clearances decrease, which increases the pressure making steering easier.
In order to eliminate this problem, you need to replace the rack. Your best options are ones with a cast iron spool valve housing or a remanufactured rack with a stainless steel sleeve pressed into the aluminum housing.
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