I think you’ll be able to improve this with a lever bleed. This procedure is less common on SRAM than Shimano but it’s still doable: connect just the lever syringe with some dot fluid in it and work on removing air from the line with vacuum action. For the final step, after you’ve pumped the lever a number of times and made sure the lever reservoir is bubble free, you’ll do a final hard squeeze, then very slowly release the lever as you depress the upper syringe.
Might need a full bleed but if your brakes feel fine otherwise, not spongy, I think you could get away with just bleeding the levers.