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I have ABS brakes, and there is no difference in lever feel between my bike and the non-abs bikes. If it's properly set up, you will not notice any difference right up to the point the ABS kicks in.
I've had the same phenomenon since new. I checked out other bikes at the dealers over the years and they all do it too. It's like it needs to have an initial pump up, then they're solid. Somewhat annoying, but I've gotten used to it. When it comes time for the ABS to kick in it definitely works. I haven't tried bleeding mine, but may dive into it someday.
Since your brakes "pump up" that is (to me anyway) proof positive of air in the lines. Bleed the system. ABS brakes should feel the same as non-abs except when using the ABS system in a hard stop.
Also, I am not sure with ABS bikes, but with ABS cars, they claim that you have to have a special bleeder system to cycle the ABS to bleed it properly. Well, I have been bleeding ABS brakes for years on cars, and they always bleed just fine. Not saying that the "proper" system shouldn't be used at some point, but for your situation, if you can do the work yourself, bleed them the old fashioned way, and see if it helps. Don't hesitate to flush through a full can of proper fluid but I bet it won't take that to get your brakes feeling better.
Don
I had my Stage1 installed yesterday and while it was there I had them bleed the brakes and now they are nice and firm with minimal travel....Thanks Don!
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