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here is my experience with my brake, 94 v6 le, symptom, soft brake, and in extreme cold weather, first time pump brake feel ok, 2nd time pump brake, the brake pedal feels hard, like lost power assist, in summer brake works perfectly fine, only experience this problem when temp drop below 40 degree, many mechanics said malfunction master cylinder, i replaced master cylinder twice, first time with a aftermarket one, 2nd time with toyota geniune master cylinder, problem still exist, then full flush brake fluid, problem still exist, then later i found TSB on camry gen4, where it state people experienced similar symptom cause by moist developed in the vaccum hose. then i ordered two vaccum hoses, and a check valve, and replaced them, problem went away. my guess is it could be many things range from master cylinder, brake booster, hoses, fluid. in my case, it was trial and error, many people said 99.9% cause by faulty master cylinder, but turn out to be a check valve and hose problem, so good luck with your problem.
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