That doesn't sound like a shock issue at all, more like alignment, ball joints or rack bushings. The temperature dependence makes me think rack bushings.
Put the front end on jack stands (both sides), crawl under and try to move the rack around (be careful, you're putting pressure on a truck on jack stands...I always leave the jack and the tires under the truck for a little "don't kill me" insurance.
With loose bushings, you'll be able to jostle the rack by hand. I'm not sure if the Tacomas have bushings available from Daystar or Energy like the 1st-gen Tundras, but it's a good bet and worth looking in to...from what I've seen the racks appear to be the same. It might be worth a call to Wheeler's Offroad, regarding the polyurethane steering rack bushings, if they appear to be the problem.
If the bushings are tight, it may simply be a poor alignment. Have the truck aligned on a Hunter console, with caster at the maximum factory specification, and camber and toe set to the factory recommendation...as opposed to "in the green" which is where it'll be set if they're lazy

.
You'll need an alignment anyway if you replace the steering rack bushings.
It's a little harder to diagnose worn ball joints without either taking the front suspension apart or putting it on the alignment rack.
Hope that helps.
-Sean