Dear Reinhold,
You wrote:
"the bracket always ends at the staff change or at the last note (i.e. it
does not end at a rest!)"
But in the below quoted example it does!

re = \change Staff = rechts
li = \change Staff = links
pedrunter = {\once \override Staff.SustainPedal
  #'outside-staff-priority = #1
\once \override Staff.PianoPedalBracket
  #'outside-staff-priority = #1
\once \override Staff.SustainPedal
  #'extra-offset = #'(0 . -2)
\once \override Staff.PianoPedalBracket
  #'extra-offset = #'(0 . -2) }

standardped = { \override Staff.PianoPedalBracket #'style = #'bracket \set
Staff.pedalSustainStyle = #'mixed }

rechts = \relative c {
\clef bass r2 r4 r8 s8 e16~ e2...}

links = \relative c, {\clef bass r2 r4 r8 \standardped \pedrunter


\times 4/5 {< ais! ais'! >32\p\<\sustainDown ^( cis! \re f a! c!\! ) }|
    \li r16\sustainUp r2...

 }

     \score {
     \new PianoStaff
<< \new Staff = "rechts" \rechts
 \new Staff = "links" \links >>
     }
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