The soft or sinking pedal is probably OK, especially on the diesels. Even my last petrol Auris did this in fact I was sure I'd get an MOT failure for it but it passd OK When you sit stationary with the engine running and press the brakes then pedal decay will probably occur, it's an anomaly of the system. Some say it's due to the vacuum pump on the diesels being unable to create, or unable to maintain, a working vacuum in the reservoir at idle. Others say it's a valving problem. If you press the