Press the brake pedal all the way down several times with the engine off to create a pressure in the vacuum booster cavities close to atmospheric pressure.
Keeping the brake pedal in the middle position, start the engine. If the vacuum booster is working properly, then after starting the engine the brake pedal should "go forward".
(A link to the original source is available on the website: «audimanual»)
Checking the brake booster (Audi 80 B2)
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