Update on my brake issue. I experienced the brake fail again on my way home that day in bumper-to-bumper traffic. Luckily the BRAKE light comes on first to allow you to prepare for the stop. I restarted the truck to fix it for the remainder of the drive. When I got home, I noticed that my fluid was low. It was just below the lip where the reservoir narrows in the middle between MAX and MIN. So, it was no where close to MIN yet, but still low. I topped it off with DOT4 and haven't had an issue for the remainder of the week. I'm driving to Philly tonight, so I guess I'll be getting a larger sample size for this data.
Anyway, after doing a lot of reading here, I'm wondering if there might be a system design flaw where any one of the following problems can cause this brake system failure: low fluid, bad booster, bad delta stroke sensor, or bad hub sensor.
Stock 2007 LE 4x4 Red Brawn
Issues: exhaust manifold leak, loose tailpipe, leaky front diff, front right wheel bearing, dead compressor