What model year is your D2? You mention Tdi not Td5 so thats why I am asking. If your vehicle has ABS, then it is unfortunately a common complaint, but depends on the severity as to whether it can be rectified. It is common on D2 Td5 (And V8) from 99 to 2001 to have to double pump the pedal to get a good feel, a power flush can sometimes improve it, but not always. After 2002 the pedal feel seemed to be improved markedly.
If a D1, Tdi (or V8) without ABS then the wheel bearing free play needs to be eliminated first, and the system bled/ flushed and that should return a great pedal feel, as long as the discs are in good condition.
JC




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