2016+ CX-9 brake fluid drain and refill process

So my 2021 CX-9 is the 5th Mazda I’ve owned since 2013 and I noticed the brakes just feel very soft. I feel like I have to apply more pressure then I should, has anyone else experienced this? My wife drives a CX-5 and she made me drive the other day (after only driving the CX-9 for 2 months)...