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Noisy brakes

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I have a 2010 Nissan X-terra.  When I start driving the brakes seem to pulsate and make a scraping sound.  This goes away after driving for a short time.  I have had a lot of brake work done including having the ABS controller replaced.  Every time I get the brakes checked they tell me there's no problem.  The brakes work OK otherwise.  Any thoughts?

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Possibly a backing plate concern that alleviates when warm but that doesn’t really explain the pulsating. You have an interesting one here. Are there any lights coming on when it happens like an abs light? 

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ABS light is on continually, but ABS controller was replaced a few months ago. The dealer says the light is due to a sensor battery. The car is a 2010 but only has 63000 miles on it.

Ok the sensors don’t have batteries they reading off of a magnetic signal from the abs tone right on the wheel bearing on that vehicle. I would need a code to specify a specific wheel to be looking at but that could be your concern

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