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I've had a '99 and '04 that had corrosion in the brake booster. The brakes would stick and drag, but also the pedal would stay part way down. It sounds like your pedal is working normally, so I'm thinking ABS unit as well. Probably no help, but here's the Booster replacement.
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I am not an attorney, mechanic, or member of the clergy. Following any advice given in my posts is done at your own peril.
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