The bubbles hang around for a little bit, especially if you go lock to lock a few times the fluid should look a little foamy. I would check the hose on the bottom of the reservoir for wear. If one of the hoses is pulling in some air then the pump may be catching little pockets at a time making steering difficult. Once the fluid get warms it could force the air out and fix the problem temporarily.
Another thing to check is the metal elbow on the top of the pump...the o-ring in there has been known to go bad and pull in air.
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