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Check this first if the pedal seems to have some slack, there is a bushing on the pedal where the arm for the clutch master cylinder attaches, this gets worn out and you will have to push the clutch all the way to the floor to disengage, replace this bushing and you will have full pedal again, its a simple operation so anyone can do it. Note, ask for the bushing for the 2004 model, Jeep has its diagrams messed up and will give you the wrong one if you go earlier than that, it looks like a little black cage, pop it into the arm, then onto the stud on the pedal, it will lock into place and viola.

There is no real adjustment as far as I know. You can bleed it off with the bleeder screw but if there are any real problems then its probably time for a new clutch

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Q: How do you adjust the clutch pedal on a 95 wrangler?
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