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Brake will not change the behavior of the robot when going from 254 to 160. It only takes affect when the output is 127. It shorts the motor leads, and the motor stops much much more quickly. You may see a slight difference when switching from foward to reverse (becasue it crosses 127), but you should only see it when stopping.
Using brake does put more wear and tear on the victor, because it has to deal with the back emf from the motor. However, the victor was designed to deal with it, and so it shouldn't be a problem. If it does cause a problem, then it is a design or manufacturing flaw, and you should get it replaced from innovation first.
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