Mine started to have this about 6-8 months ago.
At the end of 2023 I replaced the rear rotors and pads and bled all 4 corners, the rear pads were pretty rusted, so was the contact area of the rear pistons.
That made me think the expanding rust pushed the brake fluid back during longer parking times creating the pressure.
I mean, iron/steel doesn't stop rusting, rust is not airtight.
With everything rust free and the contact areas coated in anti seize paste I was hoping the problem would be gone.
For a short while it seemed to be not as bad but it returned to how it was before.
What I also noticed is that when I keep full pressure on the brake pedal after starting the engine I can press the pedal, albeit slowly, ALL the way down.
Is that bad?
Once I let the brake pedal come back up and pump twice it's all normal.
Braking is normal when driving and while keeping the car stopped at traffic lights. 2012 4.4TDV8
2000 Honda S2000
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