'99 2.3L with 275k with original rack and pinion and just replaced the PS belt a month ago. When the car has been sitting or cold there is intermittent hesitation when I first turn the wheel. It occurs with first turn only for just a few seconds. Steering returns to normal after a few seconds and the wheel has been turned the most 1/2 turn. It feels like the power steering is on/off/on/off and I hear rubber turning on pavement. Fluid has been changed, front end is tight and new. I don't hear any PS pump noises or any other unusual noises. There are no PS fluid leaks.

Is this a sign the seals are going bad in the rack? I don't see foaming in fluid.

 

Could be a bad rack N pinion that may be binding. But, I would try to replace the pump as thats the easiest way to get to and cheaper.