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It sounds to me as though you might have a dragging caliper, which is causing the fluid to heat to the water boiling point after twenty minutes or so. While it could also be master cylinder, you should see an immediate effect from that as soon as you step on the brake when the ignition is started.
Take a look at all four calipers, making sure that the fronts move freely on their guide pins and the rears do not drag. Look for pad and rotor wear. Lube the guide pins and the ears on the brake pads where they contact the calipers. Check the FAQ for tips. Note that oddities like disintegrating hoses can also cause this. And flush the brake fluid.
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See the 700/900 FAQ at the select shortcut button on the top right of the screen.
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