Today while in our 2017 Yukon we were in a parking garage driving slow,, while pressing ******* the brake pedal it felt as if I was loosing pressure and getting a vibration sensation from the pedal. The pedal would get hard and would have almost no braking at all. I stopped and looked under for leaks but had none. Brake reservoir was still full as well. We parked for an hour and when we left it felt normal again. But I have lost confidence in the brakes till I figure it out. We had a recall done about the vacuum assist a couple years ago I believe it was now. Could this be acting up again? Or something else?