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There was a gasket in that location from the factory, however, it did not do anything that the Toyota folks are stating.
The master cylinder is sealed. If it were not, it would leak fluid out the rear and the gasket would not prevent it from doing so.
The booster has a lip seal around the actuation rod that contacts the master cylinder and prevents the booster from leaking (actually, getting ambient air pressure inside the chamber, effectively nullifying the assist that the engine provides with vacuum) the gasket not being there would have zero effect on what you are describing.
Have you verified that your booster is actually getting vacuum? Yes it is getting vacuum
Have you verified that your check valve on the booster is functioning properly? How do i check this?
I have seen carbon buildup in intake manifolds to the point that it blocked off the connection at the manifold where the booster hose attached.
The only other thing i can think of is that the brakes aren't properly adjusted.
How do i see if the check valve is functioning properly?