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I don't know whether we can reach consensus on a diagnostic path, maybe some things can be clarified in advance.
The pedal was going soft and to the floor, but 1-2 sec later it was ok again. I assume it was after re-applying the brakes and it didn't move back up with your foot on it, right?
Brake fade doesn't disappear in 1-2 sec, the brakes need to cool. And as mentioned, you'll clearly smell the brakes when it happens.
Is there any leak (does the brake fluid level get any lower)? If not, it sounds like the MC is acting up. Still strange that it would be intermittent though.
Also, can you add a few more words on the jerky steering? Was this while braking or just appearing random, things like that. At the moment I don't see the link between the two symptoms you mention. I would check that the calipers are tight (torqued to the wheel carrier) to start with, check fluid level and leaks. Take a small trip around the block and check heat...
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