From my understanding my 2002 3rd Gen shares a similar ABS/Master Cylinder with your 4th Gens.

Symptoms: Prolonged motor cycling-whirring sound upon startup. Squishy brake pedal and rig lurches forward when almost at a stop, while making motor-whirring sounds.

Physically inspected all connection harnesses at the ABS unit as well as speed sensors at each wheel and they seem to be fine. No breaks etc.

Picked up a complete ABS/Master Cylinder unit from a local guy for $150 so I'm going to swap it out to see if it helps.

When I changed my brake fluid last year I just bled the system old school. I had no idea that I needed to trip the ABS actuators so it's probably why my brake pedal is still squishy.

Is there a less expensive option to trip that ABS actuator, to 100% bleed, other than purchasing a scanner with ABS auto-bleed option? (Which is like $200)

Also I read something about zero pint calibration and I'm wondering what that is and if I need to do it.

Any help appreciated