I'll be interested to hear if it calls for intervention in the ABS. It's possible that we have different ABS between our 2002 chassis and your 2007. I believe Ford made major ABS chances going into 2008. Our 2002 is a 4-wheel system but it still has the VSS on the differential housing. I believe 2008 deleted that VSS.
I'd say try this zero-cost attempt:
1. Fill Master Cylinder and Install Cap
2. Remove Brake Bleeders one at a time. Don't just Wire Brush, use little drill bits and be sure the lengthwise and crosswise holes are clear. Apply Teflon Tape. Don't reinstall Bleeder yet.
3. Remove Master Cylinder Cap and let the fluid run out of the Caliper.
4. Reinstall and tighten Bleeder
5. Refill Master Cylinder and Install Cap
6. Repeat for Next Wheel(s)
7. Check Pedal.
8. Bleed all 4 wheels using normal procedure
If this doesn't change something I don't know what else to do. And I don't know why I didn't get stuck like you seem to be, other than I had new calipers with new bleeders so they had no chance to be plugged.
Oh, Long Shot - I have all New or Recent Brake Hoses (the flex ones from hard lines to each caliper). It's not uncommon for hoses to collapse internally but usually that causes the brakes to drag, not to fail to apply. But I've seen that on a school bus. A steel bracket that held the hoses (dual cylinder drum system, true nightmare!) away from the tire rusted and pinched the hoses shut. Brake would not apply.