This is a well known and documented feature on all Toyota models with ABS & EBD, I think you will find the brakes are not faulty (Of course this MUST be determined by inspection, dont just take my word for it) This is from the workshop procedure/service bulletins If a large braking force is applied when the vehicle is stationary, the lack of feedback from the brake system will allow the operator/driver to depress the pedal to the floor, giving the feeling of lack of brake performance. If
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