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This is not a problem. The brakes are powered by engine vacuum. When sitting stopped, engine idle dropping, or the AC kicking on, will cause an increase in vacuum thus causing the brake pedal to drop closer to the floor.
There is a check valve between the brake booster and the intake manifold. Any time there is an increase in engine vacuum, it increases the power given to the brake booster, and the check valve keeps this from going away when engine vacuum drops back to normal levels.
The surge forwards is from the increase in engine output that comes from the idle controller increasing idle power to compensate for the AC compressor, or other power-sapping device kicking on. Torque increases, thus making the engine more likely to overpower normal minimal braking pressure.
This will happen with any car from any manufacturer (unless the car is brake-by-wire). It should raise red flags if what you describe does NOT happen. That it is happening means everything is functioning as it should.
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Toyotas in the family/next of kin:
1982 Corolla Wagon, 1989 Corolla DX, 1991 Previa LE, 1993 Previa LE,
1993 Pickup, 1994 Corolla DX, 1995 Avalon XL, 1996 Camry XLE, 1998 Avalon XL,
1998 Sienna CE, 1999 Camry XL, 2000 Camry XLE, 2002 Tundra, 2003 Tundra,
2003 ES 300, 2004 Camry XLE, 2005 Tacoma
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Sinking Brake Pedal
Linear Mode
