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We pulled all four corners on this AWD setup and did a complete front and rear brake job - new pads and fresh rotors all around. The old rotors were heavily rusted and grooved, well past the point where resurfacing made any sense. Out they came. The new rotors went on clean, and the calipers were inspected while everything was apart.
One thing we always do on a job like this is make sure the hub surface is clean before the new rotor goes on. A dirty or corroded hub face can cause the rotor to sit unevenly, which leads to brake pedal pulsation and uneven pad wear down the road. Small detail, big difference in how the brakes feel and perform long-term.
With everything buttoned back up, this RAV4 left with a firm pedal and full stopping power again. No more grinding, no more warning lights, no more white-knuckling it through intersections. That's exactly what a solid brake repair should deliver. If your brakes are making noise or your pedal feels soft or spongy, that's your car telling you something. Don't ignore it.