Well, I'm certainly not an expert in the matter of guns or machining, but I did work/study as a machinist for a while. The thing about any metal being "harder" than the other is that it doesn't mean the softer metal cannot eventually abrade the harder material, especially if you add debris into the mix.
I would think that when you talk about firearms and all the debris that may accumulate in the barrel it would make the situation worse too. For example, how much silica from dust, sand or dirt winds up in the bore? This type of debris can be harder than steel, and if it gets embedded in metal of any hardness it can act as a pretty mean abrasive--same thing with plastic I would imagine, though maybe the abrasives would scratch the plastic/nylon before the steel. That is just on top of the fouling from the powder, the projectile, parts of the brass casing flying out, etc.
Either way I think the key with using things like brass/bronze brushes on precision cut steel pieces ( and this is experienced from machining, I'm new to firearms ) is that they are soft enough to not seriously harm the work, but if you overdo it you can smooth things out more than you want. Add that with the whole abrasive thing...
With that in mind, I came up with my own method of cleaning. I just pass a dry cotton swab through to get all the dust/dirt and loose stuff, then an oiled one to collect any more stubborn debris and let it all get loosened up for about a minute. Then I only need to pass the brush through once or twice and it really loosens things up, and makes the rest of the cleaning with patches go pretty quickly. I've been cleaning every time I shoot though so I'm not so sure how that would work on a bore that hasn't been cleaned for a while, but point is that I think brushes of any sort are pretty aggressive and the principle of one material being harder than the other is kind of misleading.
If I had to pass the brush through more than one or two times, I would throw in a cotton swab in between just to lessen the effects of abrasion from the debris building up more as the brush loosens up more crud. A little oil on the patches will probably help break it up faster and reduce how much brushing it needs too. After that, I wouldn't really worry about the brush wearing anything down more than the lead that goes flying out of there.
Anyway, there's my two cents.