Look into the ABS... I have simular problems with my van too... brakes are good, fluids is fine, plenty of power steering, but I feel the ABS 'pulse' at times... winter time when the roads are slick, the ABS is doing something, but what is does is make it more un-safe to drive. I'd like to ditch it all together... but when it acts up, it pushes back on the brake pedal, and as your buddy said, makes the pedal 'hard'.