Doesn't sound to uncommon after a highway run for some vehicles. After extended periods of travel without using the brakes the pistons can become retracted into the caliper more then usual, especially if the rotor has a bit of warpage or movement in and out.
Wet conditions seem to have a greater effect, also the brakes are usually pretty cool after a trip and also reduce braking efficiency. My Corolla is provably the worst of my vehicles about this.
That is what it sounds like to me.