Never followed up on this. I found that I apparently didn't get one of the bleeder screws on the front calipers tight enough. It had a small leak but apparently that was enough to firm up the pedal and now I'm very happy with the braking performance.
Brakes still make a little noise, badly in reverse, but it's only a problem when I'm parallel parking at a restaurant and I'm mentally telling the bystanders, "I promise my brakes aren't bad. This is just what they do. Please don't judge me."
