It's sounds very normal for a windstar, put it together and go for a drive, find a parking lot and go fast in reverse, then slam the brakes a couple times (like 5-10 times). This will help the rear drums really adjust and tighten up correctly. After a few runs, you should hear the tires squeal a little when stopping. Now after you do this, take the van for a drive and see how the brakes feel, they should feel nice. Then your done.
The pedal on my windstar was sometimes high, sometimes low, on the highway, the pedal is low, when you start aggressively using it brakes (like city traffic) then the pedal is firm and responsive. You should be fine.
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1998 Ford Windstar GL 3.8L 252,300 miles
2005 Toyota Prius Package 6 1.5L 133,000 miles
2006 Toyota Sienna LE 3.3L 34,000 miles
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