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my 92 cherokee had a similar problem. I was driving and someone pulled out in front of me,had to lock the brakes up. The brake light came on,and the pedal went pretty much to the floor. I inspected the brakes,back brakes were badly worn,so i replaced everything including wheel cylinders,still no brakes and brake light still on. So out of frustration, I stomped on the pedal real hard,and guess what? I felt and heard a small "pop" and the brake light went out and the pedal was firm again. I read later on a jeep forum i used to frequent(I no longer own the cherokee ) that there is a pressure switch or something in the system that takes a certain amount of pressure to reset,and that's what happened when I stomped on the pedal out of frustration,the switch reset itself. hope this helps!!
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