I know that it's hard to do not in person, but I'd guess that either something bigger is going on, or there is air in the ABS module.
An experienced eye or feel is really needed to check for a couple other possibilities. A glance should say whether the rotors need turned, if they are truly glazed(enough to hurt braking), then sanding will not be enough.
If there is something wrong with the booster or master cylinder(very rare for each), then an experienced mechanic should be able to determine that by driving it. With quality brake fluid, pads and rotors, the question should be is it possible that a poor bleeding was done, and air was aloud to get in the lines above the ABS pump. Any air that reaches the ABS pump can't be bled out, it will remain in the pump.
Only a Special diagnostic tool can manually force the ABS pump to cycle. What happens is the ABS pump is made to cycle, while fluid is bled through. I have a 95 Crown Vic with a slightly soft pedal, and I know that there is air in the ABS pump, I installed it all from scratch.
Is there someone whom you can trust to test drive the truck and say whether the problem could be related to the booster or master cylinder? How do the rotors look, are they discolored much at all, and how shiny is the surface?