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Engine warm, warm day, NOT the same as PS fluid hot. Driving 12 miles on an 80 degree day isn't enough to get PS fluid "hot". There's enough fluid in there to soak up quite a bit of heat during severe use. Severe use = constant turning of the wheel for an extended period, or powering a...

Although the engine is at operating temp, the PS fluid isn't fully warmed. Turn the steering wheel lock to lock a few times, or use a winch powered by the PS pump....