You don't state the age of the vehicle.
Many years ago I experienced an Austin Maxi that had this problem, the servo had corroded and shrunk such that the internal operating rod was effectively longer.
The cure was to adjust the rod to specification.
Found the problem by removing the servo pipe and sealing it. You have to be careful as you're then driving without any braking assistance. The pipe needs to be sealed as otherwise the engine will run with a very weak mixture.
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