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When you stepped on the brakes, did the pedal feel hard? Like it does when you push the brakes when the car is not running. If not your fine, don't worry about it. The boster uses vac from the motor to work so if it dipped a bit on your booste gauge you were just seeing anothe vac consumer, and have nothing to worry about. If the pedal was rock hard then its a bad brake booster.
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