SturgeonMike,
My '93 W250 had the same problem and appeared most often when I came to a stop. In my case, when I put on the brakes, the amber light would come on. The brake booster vacuum would be used to help stop the truck (normal ops) but once stopped, the vacuum at the brake booster was too low for normal operation, causing the amber light to come on. Let off the brake and accelerate, vacuum came up and light went out.
I finally was convinced to change the brake booster assembly when I came around a corner, encountered a stopped garbage truck right in front of me and to my surprise, had no brakes.
I don't know if this pertains to your problem, but it sure was scary narrowly missing the rear end of that truck.
Just thought I would pass it along, for what it's worth.
Steve Marley
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'93 W250 CC, 4X4, 3. 54 Gearing, NV4500 5sp,
16cm2 Turbo Housing, Pacbrake, Amsoil Bumper
To Bumper W/Bypass, Boost/Pyro/Oil Temp Gauges,
Hella Lights, Icom 2 Meter and Uniden CB Radios.