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Last time I had that happen it was the rear brake compensator had "frozen", not allowing the rear caliper pistons to fully retract. Could also just be a single frozen caliper piston, or something of that nature. You can test the booster as follows. Run the engine for a few minutes to get vacuum in the booster, then turn it off. Successively press the brake pedal, and see if it gets stiffer each time. If so, the booster is likely OK, and the pedal is getting stiffer because the vacuum reserve is being bled out of the booster with each pedal press. You can usually here a hissing sound until the vacuum is exhausted, which takes several pedal pushes. Finally, by driving the car a bit, the caliper with the stuck piston, if that's what's happening, will be much hotter than the others, but watch for burned fingers when poking through the wheels.
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