Soft Brakes

2011 Off Road V6
When I start the truck in the morning my brakes feel very soft and it takes a fair amount of pressure to stop. Plus, the pedal travel seems long before brake activation. After driving for a while, the problem is much improved, but still not "100%" brake feel.
In the past I have bled brakes to eliminate a soft pedal, but the issue with the AM brake feel has me thinking it might be something else.

Any insight from the real tech heads here?

 

If it's TRDOR you have the electric/hydraulic booster, so a vacuum leak or bad booster is not the culprit, unless you have solenoid issues in the unit (yikes $$$) but let's start smaller and easier.

Check for brake leaks (including at the caliper), damaged/worn calipers, and low brake fluid. Speaking of which, when was the last time you changed your brake fluid? Brake fluid accumulates H2O over time and should be periodically flushed and replaced.