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The pedal has a return spring to bring it back to the rest position. It's a good idea to replace the master cylinder with the booster as they are both wear items. I don't think your abs has anything to do with the problem but you need a new technician that is familiar with this system.
There is a bellows (basically a ribbed rubber tube) between the booster and the firewall on the early 986 boxsters as well the later model years.
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