This may help someone else.
My brake pedal was feeling soft and had quite a bit of travel before it really started grabbing.
I was losing confidence in it and wanted to make sure that if I had to stomp on it in an emergency that the ABS would kick in to bring me to a halt as quickly as possible.
So I made 3 or 4 practice hard stops (in a safe place), and the ABS did kick in when the pedal was just about to the floor.
But after my last stop, I noticed that the brake pedal was suddenly feeling much firmer and was engaging considerably closer to the top. And it stayed that way, long after the brakes would have cooled down.
There's probably some logical explanation related to the ABS purging some air or something??? I was happy that it basically fixed itself!