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I've got a 2020 SE with under 20,000 but am having a brake issue. The pedal is is sticking and has to be pulled up manually (with your foot). I'm a long way from an actual Toyota dealer so any clues to tell the local mechanics would be great.
 

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The system does not enough pressure. When was the last time the brake fluid was flushed and bled properly. If all that is good then have the brake lines checked for leakage followed by an evaluation of the master cylinder and the brake booster.

This is basic stuff a mechanic should know and if that mechanic is looking for guidance then I would look for another shop.

Since the van is still under warranty, I would make the time to take it to the dealer for proper remediation. If it is too dangerous to drive, see if it can be towed. The towing cost should be covered under the 36mth/36K warranty unless the issue is deemed to be not a manufacturing defect.
 

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'11 Limited FWD
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531 Posts
At a basic level, it’s either the pedal arm itself or the stuff that the arm is attached to. It is sometimes easy to feel which it is by wiggling it. I don’t have my van with me at the moment but is there a return spring that’s missing or disconnected? Does it move freely when you lift it, or is it stiff like there’s a lubrication problem?
 

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2020 Sienna LE
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507 Posts
Before assuming anything by anyone have you actually stuck your head under the dash and looked at the pedal operation for any obvious issues, checked fluid level, obvious signs of leaks or damage around the master cylinder, all 4 wheels etc?
 
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