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Normally the servo operates purely from the engine vacuum. The sensor is just that, so it would not interfere with braking efficiency unless it was leaking.
Servos do not necessarily fail completely and I can only guess that the servo is leaking and that a new one would fix it. One test you can try is to run the engine to create a vacuum in the servo, then turn off the engine. Press and hold the brake pedal and if you can hear a continuous hiss from the servo, this proves the leak theory. Normally it would just hiss once briefly if the servo were good. The servo holds enough vacuum for several brake pedal presses under normal circumstances, but if it's leaking it will run out sooner.
Power steering is a completely separate system with the only common link between the brake servo and the steering being the engine, which operates a belt to the steering pump in this case. The engine stalling would cause your condition, but I would think you would notice that.
Check the power steering belt tension which should deflect no more than 9.5-11.5mm on it's longest run under firm pressure with no A/C or 6.8-7.6mm with A/C. (If you can get near it). If it squeeks a lot or is cracked it may be slipping anyway and need a new one. Check the P/S fluid reservoir just in case you have a leak somewhere too. You need Dextron fluid to top it up.
A handy A5 size repair guide is printed by Peter Russek and you can get one on eBay.
Hope this helps.
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