brake pedal,audi a4 tdi b6

vw754

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Brakes work perfect,pedal goes down a bit further than it should,is is time to change brake fluid or time to bleed the brakes?

Also if i change the brake fluid,which is the best way to do this and will i need to bleed the clutch aswell?

dont know when brake fluid was last changed,nothing indicated in service book, although has full dealer history.

100K + miles.