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/Brake pedal making a noise and pedal jumping

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We have a 2006 Chevy Silverado 1/2 ton and the brake pedal jumps and makes a grumbling noise when u r almost stopped. Brakes ok until u r almost stopped. ABS light came on only once and only stayed on for about 30 seconds and went off.
Vehicle: 2006 Chevy Silverado 1/2 4 wheel drive 4.8 v-8

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