answer:Assumption from what you’ve given me…. your serpentine belt is going out. In most cars the power steering is powered by the serpentine belt, and as it goes out you’ll begin to notice steering become increasingly difficult. As the car warms up and the belt expands (from it’s more brittle worn out state cold), this problem goes away. I would get this fixed asap, as many other things are also attached to your serpentine belt, in particular the alternator, without-which your car will not run. Other symptoms would be squealing sounds when the car is first starting up, or when you make a hard turn (which would put more power draw on the belt from power steering). The squealing is your belt. There are fluids you can put on your belt that will “help” this problem temporarily.