2003 Chevy Tahoe Z71 here. This morning as I was driving to work I noticed my brakes were a little unresponsive. I recently checked the pads/rotors and they are in good shape. When I push the pedal down, it seems like I can push it further than usual. I tested it going about ~35-40 and 'slammed' on my brakes the way I would if a deer were to dart out in front of me, and stoppage was pretty much as expected. However, this caused the "Service Brakes" to turn on and the cars warning system to start beeping at me. When I plugged in a code reader, it didn't detect anything, the error has gone away, and I didn't notice the same issues with the brakes.
Any ideas here? Possibly some air here, maybe an issue with the brake booster. My first idea would be to replace the lines, as I understand it is possible that even if I don't have an external leak it is possible that there is a leak in one of the inner tubes.
Thanks in advance.