Hello, There are a few things which can cause this fault. I have found several F150 trucks with small holes in the power steering reservoir line going to the oil cooler. You did not mention what model Ford you are driving, but I imagine the problem can happen with the Expedition, Explorer, or other Ford products.
There are some plastic clips holding the steering line to the frame on the F150. Under the clip apparently moisture or salt collects and forms pinholes in the metal portion of the line. There will be leaks but not enough to hit the ground, just a wet frame. An airlock forms in the line and it takes awhile for the Power steering pump to overcome the problem.
The next possibility would be old or dirty Power steering fluid, the bypass valving in the pump, or a bad sensor. I would check the fluid lines first, replace the fluid with the correct fluid for your vehicle, and if those 2 items do not help; look for the remaining problems. If it comes down to needing a pump replacement, I know the 2004 trucks require a pulley removal tool to switch pumps. Point is don't turn loose of what you have until you know the replacement part is complete.
I hope my solutions are very helpful in solving your problems.
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