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1998 4runner SR5 automatic 4x4

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My SUV's (that's superior to its pickup counterpart) brakes have begun to act a little funny and it just nearly got me into an accident. When I brake my car and it slows down to 10-ish mph the brakes cut out, the peddle jolts back at me, and i hear a god awful grinding sound all for a split second and, then everything goes back to normal. Do i have a bad booster?

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sounds like bad ABS

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