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Couple of things that could be possibly be the issue here - one is a faulty clutch disc. If the disc is burnt or damaged, it will "stick" like that. Can be intermittent, which can complicate the diagnosis.
Another is a bad slave cylinder. If the clutch slave cylinder is not holding pressure, it can cause the clutch disc to not pull away from the pressure plate. Along with that could be a bad clutch release bearing - though normally, when they start to go bad, you'll get a lot of noise when you press in the clutch pedal.
Some questions to get a better understanding of what is going on:
How many miles do you have on this clutch disc?
When you press in the clutch pedal - is there quite a bit of resistance or very little resistance?
How often do you change the brake fluid in the clutch master cylinder?
Have you bleed the slave cylinder?
Have you double checked the pushrod length? Clutch pedal free play?
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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