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i've noticed recently that after i park my '97 e150 for more than a few hours (overnight, at work, etc) when i get back in & go to start it, the brake pedal has no give. it feels like when you shut it off & pump the brake a few times. does this mean i have a vacuum leak somewhere? is it a problem - i never noticed it before. the brakes seem to work fine.
It sounds like your booster isnt holding vacuum.
Pinch off the big vacuum hose to booster, with vise grips or something like that, after you shut the truck off and see what it feels like the next time you start it. If it is better then the check valve in the end of the hose where it goes into the booster is shot, if not you might have a small vacuum leak in the booster itself.
It's probably nothing to worry about unless it gets worse.
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