SS brake lines
There are several issues that lead to soft brake pedals; rubber lines, old fluid, insufficient pads, glazed rotors and warn rotors. We drive around all day long in our commuter vehicles not knowing how a perfecly tuned brake system performs, except when the vehicle is new or when the brake system is refreshed.
SS lines are a great addition. You will immediately notice a consistant firm pedal over the factory rubber lines. Rubber lines do give and will cause a softer pedal. How much softer really depends on the OEM engineering of the vehicle and the braking system. However, under normal daily stop and go it's not something most drivers will notice.
Where the big difference will be noticed, and you won't need to boil the fluid to experience this, is when you are towing or building up heat during long duration braking such as in the mountains. Unfortunately, without adequate pads, new and appropriate fluid throughout the system, and rotors that are within spec the SS brake lines won't make a difference.
SS lines are an inexpensive upgrade so, in my opinion, it's worth it. Upgrading to a higher quality brake fluid should also be on your list of improvements.
Somewhat related:
Once brake fluid boils it's pretty much used up and needs to be flushed out of the system. Boiled fluid, by itself, will cause inconsistant braking and a mushy pedal. Also, brake fluid should be changed every 25,000 miles on street vehicles because it absorbs water at a very fast rate. Water compresses more than brake fluid and therefore causes a soft pedal when enough of it is absorbed in the fluid. Water also boils at lower temperatures and the boiling of water, or brake fluid, creates air bubbles in the brake lines causing an even softer pedal along with the associated inconsistant braking.
Water in the brake fluid is also corrosive, often causing oxidation of internal brake components such as caliper pistons (something our T4R's are known for) and master cylinders.