I live in Florida and don't have this problem at home. Last week I was up North and in the mornings when the temperature was 15 degrees or below, it seemed like the steering was hard and not smooth until things warmed up after 5 minutes or so.
Does anyone have any ideas as to why cold temperatures are effecting my steering?

 

Because everything gets tighter when it's cold. Ball joints, your steering rack, your tire pressure drops in the cold sometimes by as much as 5 lbs all of which will make your steering feel tight.