In the CRV, the power steering doesn't seem to work if the car has been sitting for a a bunch of hours. After start up, it takes 3 to 4 minutes before it kicks in with assist, but is fine the rest of the day after that. Ideas?

Has it done this long? How many miles? Is it whining? Does it happen more in the cold? Is it more of a problem turning to the right or left?

I would check the level of the fluid. Beyond that, not being as familiar with the Hondas, I could see it being the pump or the rack... but I'm leaning towards the rack... especially if there is a difference left and right. If accompanied with a whining, I would lean towards pump... thinking its not building pressure due to worn tolerances until it warms up and the tolerances allow it to pump a sufficient amount of fluid.

A few weeks, no longer driven often.

103k miles

No whining at all, just no assistance

Worse in cold.

Same right or left.

Fluid level good.

I wonder if the pump has a bypass or something that is sticking open when cold.

If I had to take action right now, I'd replace the pump... again, thinking it might be a tolerance issue that is taking time to build pressure until things warm up and tolerances are closer to spec.

The Cheapoe Tahoe is doing something similar, but with whining... but it has a lot of tire to move at a standstill. I figure the cold is giving it a hard time... otherwise, I'll be replacing the pump in a few months. The Tahoe also has a steering sensor that is likely wonky. I'm not sure if Hondas' have the same sensor.