Will,
Not something I've ever done, but I did some searching, and found the following instructions online ...
Testing Procedure for Brake Boosters
Most other sites just talk about having the engine off, pumping the pedal 'til it's hard, then hold it, start the engine and if the pedal drops a bit on startup your booster is fine.
For testing 'off the car' there was one article that suggests using a vacuum hand pump (from a vacuum brake bleeder kit), and pumping until you reach 15-21" of vacuum ...
Home Made Brake Booster Test Tool - See the entry by '79MustangII' near the bottom of the page.
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