Steering noise after frame replacement

My local dealer replaced the frame of my 2011 Access Cab under warranty a few weeks ago.

When I got the truck back, I noticed that there was steering fluid spilled around the fill cap, which was unusual and I had never seen this before. The fluid was also below minimum (dry dipstick), but not to the point that the functionality would be affected, I am guessing. They changed a lot of plumbing, brake lines and such, so I think they also must have opened the power steering circuit and somehow both spilled and underfilled? Seems strange because they are a pretty good dealership.

The truck drives normal, except when I start it up in the morning when it is cold (we had low thirties and even a couple of high twenties lately...welcome to April in VT) the power steering makes a loud whining noise from the hydraulic pump when the wheel is turned, and some vibration can be felt in the steering wheel.

The noise goes away within the first minute, but it comes back at every cold start.

My dealer has the truck now since two days but because temps have been higher the haven't been able to reproduce the effect.

Any ideas?

 

Sounds like low ps fluid.

 

I didn't fill it up because this is how I got it back from the dealer so I wanted them to figure it out and not be able to question what I may have done. Also there was still fluid in the reservoir, so even if it's 1/8" under the dipstick I didn't think it would create an immediate problem. Probably far fetched, but I was wondering if someone could have put the wrong fluid in there, because of the weird low temperature behavior.