After 4 pages of posts, no one has asked:
#1. Is this a relatively new problem, or has the "mushy" feeling been present since you have owned the truck?
#2. You have 20" rims. Were the 20" from the factory, or if you replaced the rims/tires yourself, did you notice the mushy brake feel with the factory supplied rims/tires?
#3. Have you taken it back to the dealership? While brake pads are considered normal wear items and won't be covered under warranty, you might have a problem with something else that needs to be repaired/replaced
#4 What are you comparing the "mushy" feeling braking characteristics to, vehicle wise? What might be normal for a Ford would be a different feeling to someone use to driving a Chevy, Dodge etc....or the braking feel can even be different feeling from within the same manufacturers vehicle line-up