1996 Chevy S-10 very soft brakes

i have owned my 96 chevy s10 since it was new and it has always had diisapointing stopping power. the brakes have alwas been soft and i have always had to drive with extra space in front in case of a sudden stop. under warranty, the dealership replaced the master cylinder and vaccuum assist with little improvement. do i need to live with mushy brakes or is there a solution? if not a factory solution, is there an aftermarket solution?

sincerely,

tom.