Ken
I have replaced nearly every component of my brakes in the last two years. They went from terrible to not to bad to terrible again. I ended up in the last two weeks replacing the Calipers (EGR not the two piston), pads (EGR carbon kevlar), and master cylinder (EGR) and larger wheel cylinders (EGR). I also did a drivers side front hub while I was at it. The rotors were already EGR from two years ago. Both calipers were pretty much gone and eating the inner pad. The braking improvement is incredible. I don't know that they are as good as my Dad's 01 but it is still better. The biggest problem was the master cylinder. How is your master cylinder? The next item is possibly the vacuum pump if the peddle sinks at idle you are probably losing vacuum. I guess I didn't suggest much, but this is what I have done. It has helped considerably along with the exhaust brake.
Thomas