If this is only happening after pressing the brake pedal then I suspect we have an ABS module issue. This could be a wheel speed sensor that is activating an ABS but the fact that it only happens when the pedal is pressed points to a module issue.
The reason is, the module gets brake pressure input and then monitors wheel speed and determines if the ABS needs to be activated.
I suspect the accumulator in the module is sticking or malfunctioning making the module think that ABS is needed. This is what makes the pedal drop to the floor as well.
The way to confirm this is to check for codes in the ABS and then monitor the brake force in the module. I suspect it will be high when just tapping the brakes. Here is a guide that will help with this:
https://www.youtube.com/watch?v=rTtAnsOlZU4
Also, here is a guide that will help with replacing the module as that is what I suspect is needed.
https://www.2carpros.com/articles/how-to-replace-a-abs-controller
Below is the process from the manual that will give detail as well. Please let us know if you have questions and what codes you find to help confirm this.
Thanks
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Friday, August 20th, 2021 AT 7:34 AM