It starts up fine in the morning, it only seems to do it when I drive the car, then turn it off for about 15 minutes or so, then start it up again.
Have you left the fuel pressure gauge on for an extended period, eg. overnight - what is the static pressure then, and does it pump up in eg 1-2 seconds to 60psi? What is the pressure after being started taken up to operating temp and then stopped eg. for 1 hour. Is the time to operating pressure about the same as a cold start?
There might be a lead there.
Is the fuse holder and the present fuse for the fuel pump clean, not overheated looking. It may be excess current through the fuse/holder. Somewhere I think a contributor mentioned the close rating of the fuse when related to the pump's current draw if it is sluggish or starting to fail etc. A check of the connector/s at the petrol tank could be in order. (dirty, loose, corroded etc). Maybe a new fuse as a tryout?
Found a fuse related post about a V8 pump, but the principles may apply in your case.
http://forums.justcommodores.com.au/vz-holden-commodore-2004-2006/164066-vz-fuel-pump-problems.html
The ute has a roll over valve - does that have any inherit problems causing the fuel tank to run under a vacuum?
Digging in my notes the fuel pump normally pulls about 7.4A (V8 9.6amps hence the fuse problem above?) Delivery is 1.7l/min at operational pressure.