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Several months ago I had issues with my brakes when it got cold. Had issue with holding vacuum. Installed a vacuum gauge on my dash as I do not trust the vacuum pump now. Temperature dropped below freezing last night, started truck and vacuum went to 24 inches of hg, hit the brakes and they were hard to press down. It was like they were frozen, hit harder and they went down to bottom of stroke and the vacuum dropped to 5 inches of hg and stayed down. Peddle would not return up so I had to hook it with my foot and pull it up. Then the vacuum increased. Tried truck again later and brakes work fine after the temperature increased. What's going on? Master cylinder, booster and vac pump under 1 year old. Getting tired of working on these brakes on this truck!! Very unreliable!
sounds to me like some water froze up on the booster pushrod ..
because if the master was stuck in and not returning it would lock up the brakes .. but the spring in the master would return the pedal to the top of it's travel .. air can go in around the pushrod area .. and if moisture or water traveled in with it then it might have stuck around that opening ..
and returned to normal operation when it thawed ..
you could always do the hydroboost upgrade and forget the vacuum system alltogether .. my brakes work without no problems .. but still not crazy about a belt driven vac pump ..
i wouldn't worry unless it repeats when the temps aren't freezing or if it's an ongoing issue