If the car is on boost you will run out of vac servo assistance
If the one way valve is working correctly then no this will not happen. I also think there is a vacuum pump to compensate? That might just be on Diesels.
Also with the brakes you can’t diagnose using a computer as the fault you’re experiencing sounds mechanical.
If your pedal goes to the floor then it’s likely a hydraulic leak either externally or internally.
Does it go to the floor or feel like it’s loosing pressure if you have the engine off? And pump the pedal so that any vacuum left in the booster is removed, the pedal should feel pretty hard. If it still feels soft or goes down then I’d check next:
I would check your brake fluid level first, if it’s going low then it’s going to be leaking fluid. Check under the master Ok the brake booster for the paint bubbling. If the paint is bubbling/peeling then the master cylinder is at fault, or atleast to start with.
Next check around each caliper and see if there is any brake fluid on them or dripping on a wheel etc. That will show up a faulty caliper.
You could try having a friend sit in the car and pressing on the pedal and you look around the hydraulic components whilst they are pushing on the pedal. It could be a hydraulic hose split if it’s the original rubber hose then they are 18 years old and highly likely to be perished. Or on the other hand it could be one of the metal pipes, the originals from the factory are steel and can corrode again causing a leak.
If there are no leaks then it could be a stuck caliper/pads etc.
I have experienced before(not on an Audi) where the brake pedal would go down really quickly unexpectedly it turned out that a slider in one of the front calipers was seized, the piston would push out onto the pads but the caliper would come out at an angle and bend the slider pin slightly. When pedal pressure was released the caliper would go back straight and push the piston back in so there was always a longer pedal travel.
To diagnose that, I clamped of the brake hose to each caliper individually and pressed the pedal to see if it was still soft or it would go hard, and then went around and did the next caliper. And released the last caliper etc so that I’m only clamping one brake at a time. I had a friend sat pressing the pedal. When I released the brake hose on the offending caliper I could see it flexing under the pressure which wasn’t obvious before.
Good luck
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