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corbinwaterski has posted in the top of the forum a link to Tacoma Service Manual.
even though this is an '03, your mid 90 should be the same in this aspect of mechanical operation.
if yours is the pull out and turn T-handle from the dash, I'd look under there and maybe just spray some contact cleaner to insure it isn't just making bad connection.
if yours is stick, and you use the brake often, maybe just pulling that dash panel and seeing if the spring can be tightened.
hope this helps
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