Power Steering Error message

I just got the error message it's 100° outside. I have driven 100 miles today in one 50 mile trip then about 10 miles every hour I parked for an hour started the truck and the message came up.

 

I just opened the hood for about an hour and the message went away I guess the heat and being a black truck with a matte black wrap on it doesn't help

 

I just received power steering malfunction error on dash after truck was idling for about 35mins while I was watching my boy's football practice. After I got home and shut off truck for a couple hours, then it cleared on its own. I have NEVER had issue with my Tundra....ever. Engine was replaced at 36K but never had prior issues. My last payment on this truck will be in 2mths.

 

My friend just got this on his 23 Capstone but there was no power assist in the steering at all. He had it towed to the dealer, curious to what it turns out to be.