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The symptoms sound like one of the following:
(1) Low refrigerant charge in the system: if the refrigerant charge level is low, the pressure switch in the system may not allow the compressor to engage untill engine heat has warmed teh refrigerant under the hood to the point where pressure increases enough to allow operation. By far, this is the usual failure to cause this symptom.
(2) It is also possible that you ahve a failing compressor clutch relay, or a faulty pressure switch in the system.
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