On my G3 Taurus SE, the brake pedal has been mushy since the day I got this car (40,000 miles?). The pedal had to be pushed half way of its stoke to feel any useful braking action. The brake fluid looked pretty dark. Last week, I got a supermarket coupon for brake fluid flush discount at a chain place called Meineke Car Care and went to service my brakes there. They checked the car out and, after fighting real hard for about 10-15 minutes to take the rusty drums off, they found that the rear cylinders are leaking and the drums need to be cleaned and resurfaced. Lo and behold, 2 hours and $250 later, I got my car back with everything fixed. Now, the brake pedal action feels just as mushy is before, though the rear end stopped making grinding and other musical noises at stops. Are the brakes mushy by design or something needs to be adjusted?