It could just be that the seals have dried up and causing excess stiction.
I had this with a less than year old set of RS 35 Gold forks. Exactly the issue you described. I gave them a simple service of stripping off the lowers, clean up, greased the seals, soaked the foam wipers in oil, lowers back on, filled up with oil and back on the road. Finished result is miles better than when I got the bike in the first place. It really didn’t take that long and there was a good video of how to do it on youtube. No overly fancy tools needed etc.
There are foam rings that are meant to hold oil and wipe the stanctions as they go up and down. The rings are at the top section of the lower fork just under the rubber seal. The oil will eventually either get wiped off on the stantion, or drain down into the lower fork, and the foam dry up. Once it dries up, there is nothing to lube the rubber seal, so it sticks … causing the issue you have.
A simple solution in the short term would be to store the bike upside for a while. This will let the oil in the lowers of the fork run down and hopefully re-lubricate the foam and seals.