Soft brake pedal/judder after tire rotation?

Got my 5,000 service on Saturday, and as far as I'm aware all they did was rotate tires and check fluids . Truck normally brakes very smoothly and has firm pedal. Today on my way home on the highway I felt some judder/bump in the pedal when lightly pressing the brake, like it was hesitating on something before actually braking within the first 1/2 inch of braking. Brake pedal feels softer as well and like it's pulling from my foot. Once I get past the judder it seems fine.

I left it with dealer overnight so they can see what's up, but the actual judder of the pedal was bizarre and I couldn't ignore it as it was happening consistently. Anyone have any idea what I'm talking about and have an idea of what is causing it?

2017 SR5 DCSB

 

Just found this thread, and this feeling in the pedal is exactly what I am trying to describe.

https://www.tacomaworld.com/threads/brake-feeling-not-smooth-trd-off-road.402954/

 

Dealer says no issues. Said they did full break inspection. Two techs drove it. Brakes still feel shitty. At a loss.