I'm old and used to old tech so bear with me.
My GD has purchased a 2005 xB.
As a precautionary measure I replaced the front disc brake pads.
Might have been the simplest pad replacement I've ever done.
I also replaced the rear shoes and drums.
More involved than the pads but still a simple job.

Now, about the thing that's bothering me; when test driving it after the brake job, The brakes feel a bit odd.
They stop fine but when I first engage the pedal the braking starts immediately as it should.
But then there seems to be a bit of pedal travel before the braking increases after which braking is consistently increased with braking pressure applied.
It's just that in between pedal travel that has me confused.
Never experienced such a thing with any of the dozens of brake jobs I've done.

My question is could this just be the drum brake self adjusters need to catch up or do you suppose it could be a problem with the ABS?

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I dont think its a problem with the ABS. at the slightest of trouble it would throw a code.

It could be the drums need to be adjusted.

edit: Did you bleed the brakes?

 

It is very easy to install the rear brake auto adjusters incorrectly - which results in long pedal travel after a short period of time.
Have a look at this video (yes that's me) correcting the way the shoes are assembled

In general though, I think Toyota could reduce the slack in the auto adjusters to get a shorter travel in the pedal movement vs braking effect.

 

Not for an instant do I believe that I mis-assembled the brakes. I took pictures with my phone befor removing anythig and reassembled it all exactly as it looks in the photos. But I'll take it apart and take another hard look.
It may be that I just need to adjust the shoes out a bit more

 

If you have the door open and push down on the brake pedal, you should not hear a click from the rear brake.
If you do, then the adjusters need to catch up