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Grumbling/scraping feeling from brake pedal

titeo1106
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titeo1106 Newbie

titeo1106

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I have 2006 Pontiac Torrent AWD with front disc and rear drum brakes. I need help with my ABS & traction control lights come on together (sometime) when I hit brakes slowly to slow down my car around 20-30km/h with a grumbling/scraping feeling sent to my feet from brake pedal (feel like rumble strip on highway). ABS & T/C lights go away if I shut off engine and restart car. It also happens if I accelerate at that speed. This issue does not happen when I hit brake hard. Has anyone experienced this issue?

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