Brake Pedal: Inspection

Move the brake pedal pads in a horizontal direction with a force of approx. 10 N (1 kgf, 2 lbf), and check that the pedal deflection is in the range of specifications.
CAUTION: If excessive deflection is noted, replace with a new bushing.

Deflection of brake pedal:

Wear limit: 5.0 mm (0.197 in) or less

Fig 1: Moving Brake Pedal Pads In Horizontal Direction
Courtesy of SUBARU OF AMERICA, INC.
Check the position of the pedal pad.
Pedal height L: 140 - 150 mm (5.51 - 5.91 in)

Brake pedal free play A: 0.2 - 0.5 mm (0.008 - 0.02 in) [When pulling the brake pedal upward with a force of less than 10 N (1 kgf, 2 lbf).]

Fig 2: Identifying Brake Pedal Free Play And Pedal Height
Courtesy of SUBARU OF AMERICA, INC.
If it is not within the specification, loosen the lock nuts of brake booster operating rod, and rotate the rod to adjust the pedal height L within the specification.
Tighten the lock nut.
Tightening torque:

Operating lock nut: 22 N.m (2.24 kgf-m, 16.2 ft-lb)