Pilatus PC-12 Captain reported a left brake anomaly while taxiing; which appeared to be resolved after troubleshooting. On a subsequent flight; the left rudder pedal felt stiff; resulting in an asymmetric braking tendency after landing.

Narrative

On Day 0; the crew of Aircraft X made a normal landing on runway XX at ZZZ; using flaps 40 and normal brake application. Pax (Passengers) were successfully off loaded. The crew started up for departure to ZZZ1. The SIC (Second in Command) was pilot flying; upon taxi to runway XY in ZZZ he noticed the left brake was ineffective. Both crew agreed. It was requested that the aircraft could taxi to taxiway 1 from the start of XY to evaluate the issue. PIC took control and agreed in the brake abnormality. Crew made the decision to taxi back to parking and perform a function check and visual inspection. Brake fluid levels; were normal; no leaks or abnormalities were observed. Upon taxi to parking; brake operation resumed normal functionality. The check was still made in an abundance of safety. The crew resumed their planned departure from ZZZ to ZZZ1. The crew decided to leave the gear down for roughly 1 minute after departure in the event the brakes were warm and needing additional air flow to cool them; although this was not suspected to be the issue due to normal braking on the previous landing.While flying to ZZZ1 the SIC; who was pilot flying noticed the same characteristic; firm feeling that was observed on the ground in ZZZ when the issue was noticed. PIC agreed with this feeling. We agreed with the long runway and additional services at ZZZ1 that we would continue to land. ZZZ approach was advised of our situation. The crew requested emergency services to be staged on the field in an abundance of caution. The situation was expressed as a non emergency. Fuel and souls were reported.The QRH was reviewed and it concurred with the crew's plan. We were to land flaps 40; slowest possible speed; no brake application. A smooth landing was achieved. Minimal braking was used to exit the runway. Braking to our parking spot; the left brake proved to be ineffective again; confirming our suspicion.