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check the caliper slides and be dang sure they are moving freely. they will sieze in the anchor plate and greatly reduce the stopping power.the abs unit sounds to be at fault, does it have a proportioning valve? the late 70's fords had the same problem, never figured out why.look at the 4 brake hoses, if any of them have a bracket crimped to them, spread the crimps a little, they rust and pinch the hose, causing high pedal effort.
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