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It could be that the master cylinder is getting weak.
The low pedal is not necessarily a sign of a problem. Also, on most cars if you push the pedal twice in rather quick succession, the pedal will be higher on the second push.
Some ABS cars have a slightly more mushy feel. Depending on brake fluid temp and outside temp, the pedal could feel slightly different. Also, the ABS can actually make the pedal feel as if it's lifting, because essentially it fights pedal pressure by releasing the pressure at each line that is attached to a slipping wheel (or rear axle). If the master's seals are getting weak, you might notice a subsequent drop in pedal height, although it might go back to normal after a while.
When you REALLY make the ABS work hard, like on sheet ice where it's thumping turns to a solid growl, and the pedal all of a sudden goes rock hard, it is creating a lot of stress on the master. Not that the master should not be able to handle it (it should) but after years and miles, they are no longer perfect.
Since master cylinders are rather inexpensive, you could replace it. Usually they come with a new reservoir too, which is nice. IF you are careful, you won't have to bleed the lines either. A new master is often a fix for similar problems.
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1992 940 wagon, low miles
as well as others.
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