99 Grand Prix soft brake after backing

I've got a 99 Grand Prix, 55k miles on it, there seems to be a strange problem with the brakes. Most of the time, the brakes work perfectly. However, after backing up, the first time the brake is applied the pedal is very soft. The brakes seems to work fine while in reverse, it's just the first time they are applied the pedal travels

2/3 - 3/4 of the way to the floor and this doesn't seem to depend on distance traveled after backing up until using the brakes.

The car does have ABS, the fluid level is fine, and I have not had the brakes worked on at all. The pads seem to have some wear left on them, but are original.

Thanks for any ideas!

Chris

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chrisgs77
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