I've noticed when I first start up my XJ the first few times that I press the brakes the pedal wont catch till about halfway down, then the brakes will slam on when the pedal hits a certain point...it goes away a little bit when the brakes "warm up" (I guess), but the brakes still dont seem right. do they maybe need to be bled?

..I also feel the driveshaft (slip yoke?) bumping the first few times I accelerate from a stop?

95 XJ sport with the AW4, NP231, and a 3" lift with a TC drop

 

i have the same issue. i know i need to rebleed the brakes and replace the front calipers as they are starting to go out. and my rear brakes are crap.

 

Check Wheel Bearing Hub Assemblies

 

My wheel bearings seem fine. I replaced the front pads today, it seemed to help even though the old ones were only about halfway gone. I didn't have the time to bleed today, will do that soon.

 

Course you checked the fluid? It's pretty common the auto adjustors in the rear don't work. If you have a bunch of travel in the pedal, (and the E-Brake), you should probably adjust them. Good thing to check anyway.

One sign the master cyl. is getting tired is if it fades while you are at a light. Really shot it might "Catch" at different spots.

Normally you don't need to bleed them unless the reservoir has been run dry or something has been worked on.