When I come to a stop at a light that I know I will be at for a few minutes, I put the jeep into neutral to help keep the transmission cool. When I put the trans into neutral, the brake pedal softens a bit and drops down about an inch from where is was while in the drive gear.

Is this normal? My brakes are pretty solid as I don't have to apply much force to stop the jeep.

When I go back into drive the pedal stiffens back up and rises up an inch as well.

Any cause for concern?