I would depend a lot on what sort of noise it is.
If it is a sort of squeal then it could be a loose/worn alternator belt associated with a tired battery. The steering is electrically assisted and draws 40 amps. If it can't get that from the battery when you first start it gets it from the alternator. That extra load on the alternator would then cause the belt to slip. Once you've run for a little white the battery may be topped up and so the problem goes away.
But that's just a guess. I think if you could give more information you'll get a better response.