Slop in Brake Pedal at Start Up

Hello, sorry if this has been discussed. I searched but couldn't really get my keywords right to find anything specifically on this.

So this happens fairly regularly regardless of how long my truck has been sitting. To restate, doesn't matter if its been sitting overnight or for 45 minutes while I'm in the store.

The brake pedal in my '12 has a little play/slop at the first stop I make after starting up. Symptoms: The resistance you feel when slightly pressing/easing on the the pedal is not there initially thus allowing the pedal itself to depress a little more than usual while not engaging the brakes immediately. The truck basically hesitates 1/2 a second and discovers, for lack of a better word, that you are pressing the pedal and then applies the brakes as if you just stomped on them. Again, just slightly pressing the pedal but since the position of the pedal ends up about an inch more depressed than where it would if operating normally, the truck reacts by engaging the brake pads harder than intended.

Seems like there is a power assist to the brakes that isn't reacting and allows the system to act like this. BUT it also feels similar to when you have an improperly bled brake system. I don't think its that air int he hydraulics as its only at start up and I have never opened the brake lines. I am more inclined to think its power delivery.

Haven't taken it in yet, just wondering if anyone else has experienced this.

Thoughts?

Specs: 2012 Tacoma Off Road. Manual Trans, V6.

 

The OR has the funky hydraulic assisted brakes and not the Vacuum assisted brakes with the ABS built into the master cylinder right?

It seems lots of issues with those.

 

That's a good question, not sure and I guess I have to look into it unless any TRD OR experts can weigh in?

The way the pedal feels, and with the notorious whoosh sound of my brake pedal, I am more inclined to think vacuum assisted.