My 2002 Ford Taurus with V6 engine has heat issues.
In the early morning after the car is warmed up I have heat for about 1 minute and then it goes away to just luke warm at best. I then turn off the heat and start it up again couple minutes later and I have heat for about 30 seconds.

When I drive home (and weather is warmer) I have some heat (not very hot) while I was driving and lost it when I was idling and then it (mild heat) comes back when I am driving. It never gets very hot like it used to.

The Temperature gauge shows it is warmed up and looks normal.

Please advise.

 

How is your coolant level for starters? Is your vehicle one where you can actually check the level in the radiator?

Make sure your belt to your water pump is not slipping - but it's probably not.

You get more heat when the engine rpm's increase. That is typical. The water pump is spinning faster and can overcome other issues, one of which is low coolant level.

You will feel more comfortable, until you resolve your problem, by leaving the blower speed less as that will make the air hotter - just not as much of it. Some vehicles, the way the venting is, you do not even need the blower on at all while cruising down the highway, as some air will still come through the heater core and be at it's maximum hottest with the air speed coming through it less. That feels better than a lot more less-warm air, due to the windchill effect.

 

Sounds like the coolant isn't circulating thru the heater core like it's supposed to. Check your heater hoses and heater core.

I suppose it could also be a temp control problem - not opening the door like it should.