Ok so here if my findings. This initially happened last night so it was bone cold when I did this test today. I pulled the car off the street and the pump whined for a little bit "i'm assuming since it was still foaming and making noise when i got home" then became quiet this took roughly 30 seconds from start to park. I let it sit in the drive for few hours then jacked it up and put on stands.
I did as 05FocusST91 said and tried to burp/bleed the system with the car off. My GF cycled back roughly 30 times, and I noticed some bubbles at first where there was some air but then the fluid just moved around like normal from turning the wheel.
Took the car off the stands and went for a 10 minute drive, pump was quiet the whole time even through my crazy parking lot maneuvers to try to promote the foaming issue. So I thought all was good until my foot got heavy after a corner. Almost as soon as I let off I could hear the pump whining and the next corner it was most certainly whining. I did not stop but continued to take the 5 minute trip across town to go home the pump whining most of the way, about halfway I don't hear it anymore.
When I get home I pop the hood and see where what looks like a little spilled from foaming up, but there was no foam at all in the reservoir.
Last night right before I heard the whining I was full throttle off the light shortly before my house. Anyone have any Ideas as why a full throttle run could cause the power steering fluid to foam?
Oh and should I have tried to burp/bleed the system with the car running or not?