I have the same symptoms with one of my trucks. Peddle is a little soft on the first press then is better thereafter.
I thought it was odd considering I was doing the whole truck as a project, I have replaced or rebuilt everything brake wise but the air pack itself. (new Master Cylinder, lines, flex lines, wheel cylinders, adjusted shoes fluid, bled 3 times with DOT-5 (manually).
I am thinking my situation is one of two things
1) still some air in it - and I need to get off my but and make a power bleeder.
2) Air pack is somehow leaking air into the system
I will be watching this thread to see if anyone has some other ideas.
Thanks,