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If loss of brake boost is what's causing the limp mode, whether it happens or not would be a function of whether you're out of the throttle and under vac enough to keep up with the vac the brakes are using.
I think that could vary quite a bit depending on the nature of the course, and driving style.
If you heal-toe or trail brake you may be consuming vacuum faster than you're creating it.
Sounds like it's at the hairy edge between fine and limp mode.
Lifting just a fraction of a second earlier or later at the end of a straight could be the difference.
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