I concur with the previous post. A complete flush should take care of the problem. A great 2 person job on a lazy Saturday afternoon.
However, be sure to drain in the proper sequence (from the longest distance back to the master cylinder) one wheel at a time. RR, LR, RF, LF. ONLY close the brake caliper bleed valves after fluid comes out clear w/o ANY signs of air or bubbling.
Also be sure to use a good fluid, with a Castrol GT/LMA being a minimum, not the "$1.99 special sale stuff". Much better than stock.
I'm required to use Wilwood Hi-Temp (570 boiling point) fluid since I use Wilwood 4-piston calipers up front. Great stuff.
On a final note, be sure to do a complete flush at least every couple of years on a street car and whenever doing brake work. Your wallet will thank you later down the road as ABS distribution blocks are VERY expensive and usually only bite the dust due to neglected/contaminated brake fluid.