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What truck? You will never get a totally solid pedal on teh IFS trucks without a scan tool. Wish i knew this when i had my truck. W/o the scan tool, you can't properly cycle the ABS system through the bleeding modes.
Get it bled. Really. Not going to be more than $100 total. Just make SURE they are going to use a scanner on it to bleed it properly, most shops do not.