I have a 2002 Toyota Avalon. Overall the car is in excellent shape, no major issues.
Recently, I have noticed the brake pedal requiring increasing pressure, but only when moving (which is obviously when I am using the brakes!)
When I come to a stop, the pedal immediately "softens" and feels less stiff. For instance, if I am going down a hill, I need to apply decent pressure to come to a stop at an intersection at the bottom. As soon as I reach the bottom of the hill, my foot will sink an inch or two down with the pedal.
Stopping distance and such are normal. I do have a little vibration when braking so I know I need to get the rotors machined or replaced, but is this pedal issue related?