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You have a vacuum leak. If the vehicle is running normal and braking normal, then the leak is either somewhere from the booster to the right side of the truck where the line goes in to the dash switch, or there line is broken from the switch to the actuators for box which controls the modes at the air box.
Look for where the vacuum line enter the firewall on the passenger side under the hood then follow it to the brake booster. Make sure there are no breaks in it. That is the most common section to have that line break.
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