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I have owned to F20s. One 116i with the smaller brakes, and one 118i with the big M-Sport brakes. Both had excellent brake feeling with linear response. I sometimes drive rental cars from other brands at work, and my impression is that the BMW is set up with slightly high pedal effort compared to many other cars. Particularly the clutch pedal. The brake pedal also needs a bit more pressure to start braking. When driving VWs with protection shoes, I can feel the car braking before I feel the pedal under my foot.
I have also driven older Citroëns with high pressure hydraulics. They have a brake pedal that hardly moves. It works well, but it feels strange until you get used to it.
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