Hi, I have a Winnebago Adventurer similar to your Brave. You have to start out with the firm understanding that this RV is NOT a car, and should not be driven the way you dirve a car. The speed should be kept lower, 58-62mph is usual on the highway, but in town we just dawdle along. The distance you keep from the vehicle in front should be MUCH larger. If you do that, the brakes are adequate, but you may have to push them pretty hard on occasions. I live in constant awareness that if the guy in front suddenly stops it could be embarrassing. In cities, for example, we make no attempt to keep up with the flow of traffic, and let the flow go round us.
Having said that, we have not had trouble, and the ABS brakes work ok. We also have a good supplemental braking system in the Jeep we tow, which is highly reccommended and makes quite a difference.
Hope that helps
Rankjo