I'm not a power steering fluid expert, but PS fluid does have viscosity and that viscosity will increase as the temperature decreases causing the fluid to flow slower through the steering system. When the fluid warms up, it would flow better which is probably what you experienced after that 30 minutes. If you haven't changed the PS fluid in a long time, maybe you should and use a synthetic fluid that is compatible with what's spec'd for the vehicle as they tend to have better performance under a wider range of temperatures. Also, the PS pump could be getting weak or not pumping efficiently due to contaminates in the fluid (some companies sell after market filters for the PS fluid).
Regards,
paul...
Regards,
paul...