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We see this often in the shop: sometimes the abs controller will get small bits of debris in the control solenoids and cause a soft pedal. The solution is to bleed it about 4 times with the scan tool. Eventually the debris should loosen up. Another option, albeit not as safe, is to take the truck out on a dirt road, get up to about 25 mph and then slam the brakes to activate the ABS. This will sometimes force the debris out as well.
I hate to answer and run, but I'm leaving the shop in about 5 minutes. I check back in later to see if you need more info.
Do you need additional help with this vehicle or did you get it sorted out?
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