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You don't mention having done any brake maintenance. Now's the time to do it.
Inspect the pads and calipers for smooth operation -- make sure the pistons retract and the pads do not bind in their ways. Flush the fluid.
Next time you feel the problem with the pedal, interrupt your commute in a safe parking area. Use your palm at a few inches, or an IR thermometer to check each disc. If all this checks out and you still have a mystery, consider a new master cylinder.
--
Art Benstein near Baltimore
Annual Performance Review Time...
"He would argue with a signpost."
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