2017 Mazda CX-5 brakes problems

Yesterday my wife tried to stop our cx5 in our driveway but it kept a slow glide for a few yards thus crashing into our garage door. Shifting into park a 2nd time (1st time didn't work) and pounding the brake pedal finally stopped the vehicle after pushing in the garage door a few feet. Engine remained in low idle (no acceleration) and brake feedback was normal (not mushy) the whole time. This is 2nd occurrence. First occurrence was about 6 months ago as the cx5 glided part way into an intersection.

When stopping my vehicle, my brake pedal tends to 'bleed' downward, to the point where it is below the level of the gas pedal. The result is I sometimes wind up hitting both the accelerator pedal and brake pedals at once. I've never had another car where this can happen. This is dangerous and terrifying when braking in close proximity to another vehicle. I took the vehicle to the dealer for an inspection and adjustment, the resulting slight improvement only lasted about a week, now it's happening again.