I finally got enough time to do some of the recommended tests and to compose this long answer.
Responding to Nevada_545:
I have heard this [pedal to the floor] complaint many times, even with new cars. I doubt you are really pressing the brake pedal to the floor. If the pedal was “to the floor”, the brake pedal would be compressing the carpet, and the brake warning light would be on.*
I should have said that the pedal goes down until something reaches a hard stop. (The pedal goes pretty far down. “To the floor” was an inappropriate colloquialism.)
Try applying the brake that hard while driving 25 mph; you will understand why that is a flawed assessment. You are applying the brake way too hard and compressing the brake booster.
Thanks for the new suggestion. I did this, and the pedal was firm as the car came to a stop (even a little ABS action). After the car stopped, the pedal (as before) moved slowly downward.
You have been driving this car for how many years without a brake pedal complaint? And now you found that the brake pedal has more travel when the vehicle is at rest.
That’s the whole point. Driving this car – almost exclusively – for 19 years, I did not notice any soft-brake-pedal problems. Then I drove a different car that had much sharper brake pedal action (less force, less travel). So I wondered, “Could it be that my car’s braking has slowly deteriorated, and I have not noticed it because the brakes still work OK?” That’s what prompted me to start experimenting and to ask my original question: Do the brakes need fixed?
Quoting art1966: I think that’s what everybody here (including myself) is guessing.
“Guessing” was a really bad word choice. I should have said “using our knowledge and experience to predict what we will find when we test”
You mechanic drove the vehicle, he is not guessing.
That’s the other whole point. My Trusted Independent Mechanic says I’m OK. Some contributors here are doubtful.
Responding to davesmopar:
Does the hissing sound stop once the brake pedal bottoms out at the end of its travel, or does it continue hissing until you release the brake pedal???
Stops when the pedal bottoms out.
Engine off:
Depress the brake pedal 4–5 times (you should have about 3 pedal pumps before using up all the vacuum assist) and hold the pedal down—do not release it…
Takes only 1-1/2 strokes before hissing stops (and pedal stiffens).
While continuing to hold the brake pedal, start the vehicle… Watch/feel what the pedal does…
On a properly functioning vacuum booster, when the engine starts and vacuum is applied to the booster, the brake pedal should drop some under your foot… That’s the classic vacuum-booster functional test
Just like you said, except the pedal bottoms out (instead of dropping “some”).