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Irregular grinding feeling from the brake pedal?



  MK2 PH2 & E46 330
This ones been baffling me for a while...

My car came with pretty new discs and pads when I bought it, both of which are in good condition still. Occaisionally I get this odd braking feeling through the pedal while in general driving, a bit like the ABS is trying to kick in but really poorly. If I slam on the brakes the ABS does kick in as it should, but this odd feeling can happen at almost any speed.

The car stops fine when I need it to, it's just an odd sensation. It doesn't feel like warped discs to me either. The caliper isn't likely sticky because the car coasts really well.
I'm also not sure if this will affect the MOT or not.
Any ideas?
 
  MK2 PH2 & E46 330
I was thinking that after doing more reading. Just replaced the driveshaft yesterday so at least one side front is fine... I'll try cleaning both sensors too.
 


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