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The grinding sound suggests that the pads are gone and you have a metal to metal situation. This may be causing the ABS to kick in. Significantly worn front suspension components can also cause various braking asscoiated anomalies.
do you have the TRACs/ABS warning light come on at all? If so you may have a bad control module. I experienced a variety of braking anomalies when mine went eg. intermittent ABS activation under normal dry braking conds at slow speeds.
The grinding is very worrisome-pull the wheels and look for severe pad wear and rotor scoring.
Matt
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