What happens if after going for a drive, and parking (but leaving the engine running), you were to hit the brake pedal multiple times?
If the pedal firms up, could be an issue with the electric vaccuum booster.
From a cold start, and driving a bit this probably gives enough time for the main booster to build vaccuum.
Can you hear the vac pump running at all? (I have no idea if they are audible on a C30, I had one fitted to a previous project car and it was fairly loud when in operation)