The fact that this is intermittent makes this hard but the most likely issue is inside the steering gear.
The fact that they cannot find an issue makes us think that the suspension and steering components are tight.
However, when the gear gets hot it may get some slop in the gearing. It is not a common issue but based on this info, it is the thing that makes the most sense.
Here is a guide that will help with steering issues in more general that may help with some other ideas if this doesn't pan out:
https://www.2carpros.com/articles/power-steering-problems
Please see the process below from the manual that will help with replacing the gear as that is the likely issue.
Please let us know if you have other ideas. Thanks
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Sunday, July 4th, 2021 AT 5:40 PM