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Remove the bracket.
Overdrill the holes 1 drill size.
Insert the short side of a small allen wrench (shape of an L) in a drill.
Drill out foam in the hole.
Suck out foam bits with a vacumn.
Mask off area with painters tape.
Partially fill with Gorilla Glue. (it expands) Fill in steps so it overfills holes.
Let cure.
Trim off excess.
Tap for the screw.
Reinstall hardware.
Will be rock solid.