S10 Brakes

Hi, I'm new to this forum and I need advice on my 2001 Chevy S10. It is the LS extended cab model w/v6 engine. My problem is the brakes. To sum them up in two words "THEY SUCK!". I bought the vehicle new and it currently has 31,000 miles on it. I am currently on my second set of front rotors and brake pads. Ever since new the brakes have seemed undersized to me - not enough stopping power. The dealer tells me that since the S10s were revalved for the ABS system, they are all like that :mad: . The pedal also seems "Mushy" to me but they have been bled several times with no change in performance. My Wife refuses to drive it because it's two hard for her to stop.

My question is: Since the warranty is about to expire, what can I do to improve the braking performance? I have thought about switching to some ceramic pads and vented rotors, retrofitting discs to the rear wheels or giving up and just selling it. Any advice would be appreciated. Oh, by the way, When I'm towing my boat, they work great (When the trailer brakes kick in! :lol2: )
Thanks,
Jim K