BTT - the pedal can fade without loss of fluid and would trigger an imbalance and most vehicles would light a RED brake warning light if so. This smacks of a bad master cylinder as Hammer said.
Grease on brakes and many other faults wouldn't cause the pedal to fade! Same light will light if parking brake doesn't fully retract to off in many vehicles. If this was an ABS issue that light should be amber and on!
Frozen caliper or wheel cylinder could after driving heat up brake fluid to boiling and a soft pedal would result. That about always demonstrates itself as a hard pull if a front issue or a hot wheel even smoking hot which was not mentioned so far so I think this is a master cylinder. They can do that without warning. Best we can do is educated guessing unless we have the vehicles in front of us and we do a lot of it here,
T
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Tom Greenleaf - MetroWest, Boston