Unfortunately, I don't have any solid answers for you, but I do have some questions that may help illuminate what's going on:
1. How's your fluid level? I'm guessing you've already checked, but it's worth an ask.
2. Do you have any leaks? Specifically, check the hoses to the pump and to the steering rack.
3. Does revving the engine higher when it's hot improve the steering resistance?
4. Is it any harder to turn left vs. right, or vice versa?
5. Any noise while turning when it's hard? Whining, groaning, etc. Maybe have someone turn the wheel while you listen.
The resolutions to this type of problem usually either point to using the wrong fluid type or a bad steering rack
Someone that had the same symptoms as you:
heavy-power-steering-when-warmed-up-as- ... 19673.html