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It’s possible that you just have a weak power steering pump. You can purchase an inline tester and compare the reading to specs that would be available in a factory service manual. However, the fact that it happens only at specific points leads me to believe that something is binding, and it could possibly be the steering gear box, but it’s odd that it happens on both sides at about the same steering angle. Is the truck raised with bigger tires or anything of that nature?
The suspension and tires are stock. I assume that an issue with the suspension and other steering components would bind at all times and not just when the power steering becomes hot.
I could see the binding causing the power steering pump to sustain pressure, overheat and cause damage to the pump. I’m not sure how the binding would be caused by the pump, especially since it is more noticeable at higher speeds with less power steering action.
I think inspecting the suspension is a good start as something could be loose and binding there. I would also check the outer joints on the front drive shafts as I’ve seen these go bad and cause issues with steering. It may be that someone has misadjusted your steering box and put too much preload on the worm gear. To be honest this would be very difficult to describe how to properly adjust so I will differ you to the service manual for the correct procedure. The gist is to loosen the lock nut and turn the adjusting screw to the proper preload. Thing is that if this has been happening for some time it may be too late and you would need to replace it.
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