Unfortunately, there is no way to access the pin without taking off one of the plastic covers below (remove 3 push pins and unplug electrical connector). After removing the plastic cover by the brake pedal, you could insert a rubber washer (such as from Ace Hardware) on one end of the clevis pin between the pedal itself and the bracket. This eliminates the horizontal slop and noise.
This was an easy fix, except that it was really tedious getting down there with no working room and being upside down.
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