Look for Aeration "Bubbles" in the fluid, then check the PS cooler and fluid it may be the wrong type most often you can use common ATF but check your service manual to see what you're supposed to use, Air pockets can form steam as well which would mean you have water in your system at that point possibly from cheap power steering fluid or from the wrong type. I suggest closely monitoring your fluid before and after the situation occurs start with it cold inspect the fluid, is it burnt smelling? Put on gloves and dip your finger in run your fingers together and check the viscosity then take a white paper towel roll it up like a straw and dpi it in the fluid reservoir and pull it back out un roll it and inspect it for contaminants i.e. dirt metal any signs of a failure in the system. Also if your brake master cylinder is like mine it's hydraulic and runs the Power-steering and brakes off the same pump if that's the case you have a very complex system and you should seek a professional diagnosis for 75-100$ to save you the time of trying to hunt down the issue let someone else do that and then do the repair yours led if you feel qualified. Normally if this were a vehicle that had a rack and pinion I'd say test that however our setup is a more rudimentary system with a steering box and linkage that connects them these joints can become tough to turn when they get older or of there's a bent rod but I would suspect that you would have a issue the whole tile not just part time. Is it any worse or better on Hot/Cold days? I hope some of this helped you please PM me if you have any other Questions.