Well...... I'm not fully sure.
We have what's referred to as a hydro-boost system that runs off power steering pressure.
It looks like there would be a seal on the very back of the booster for the pedal rod (seen as a cylinder with an eyelet at the inside firewall). That could be passing power steering fluid i believe. You may be able to take apart the booster and replace only that seal. I have an old book with an exploded view of a hydro-booster and R&R instructions if you decide you wanna try it out.
the brake switch (assuming power steering fluid is conductive) could be shorting?
or it could just be stuck... i haven't looked at how they are made and oriented on our trucks.
The one's i have seen are just push button switches.
Best of Luck.