Steering Column Noise, Briefly, First Thing In The Morning

I'm having a reoccurring but brief and intermittent issue with my 2015 Tacoma (2WD, automatic, about 105K miles).

For the first minute or two after I start the truck up, any major turns (more than about 45 degrees) produce noise that seems to come from the steering column. Sort of a groaning/creaking. No shuddering; I hear it but don't feel it.

The symptoms are always brief; by the time I'm out of my apartment complex, the issue has stopped and doesn't come back for the rest of my drive, whether it's a short drive to work or a long drive. It occasionally occurs when I leave work at the end of a long day, but rarely. Never after short stops. I'd say it needs to sit without any driving for at least 4-5 hours for the issue to occur.

I live in Florida so it's definitely not a cold weather issue.

Any ideas regarding cause? Not serious unless it starts happening more frequently?