Brake pedal hard and high when starting Telluride

Many times when I try to start my Telluride (SX Nightfall, 2021), I find it very difficult to push down the brake pedal so that I can start my engine. The brake pedal feels hard and high. This often happens overnight, but at other times too after the car has been resting a bit. I usually am able to press very hard on the brake pedal so that the car starts (at which point the brake pedal softens and lowers), but I shouldn't have to press so hard. It certainly wasn't necessary when I first got my car.

Does anyone have any idea what the problem is here? Is it an easy or difficult fix? Appreciate any advice.