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I have a similar complaint to many others on this site: At low speed when I come to a stop the pedal pulsates, like ABS, and there as a groan sound. Hard breaking is fine. Where my complaint differs is that at a red light the pedal does not go to the floor like all the other posts I've read.
The problem has become increasingly worse. First it only happened if the wheels were turned, as when pulling into a parking spot. Then it happened occasionally while going straight but seemed to pull to the left. Then the pull went away (or I got used to it). Now it happens almost all the time when stopping from a low speed.
I thought it might be a wheel speed sensor but from what I understand the sensor on the 4WD is in the transmission or transfer case not on the individual wheels. To me then it should work on the front wheels in parallel and not pull to one side or the other or be effected by turning the wheels.
Any information would be helpful, especially it the problem continues to get worse.
Here's my thoughts, take a good look at your brakes, discs/drums, calipers, everything. If one side is wearing more, of is a little "looser" than the other funny noises can arise. The easiest repair is replacement. sorry I cant give any more ideas.
Sounds exactly like the problem my co-worker was having with his Ranger... turned out he had a bad front ABS sensor in there that caused the ABS to kick in during light stops. In his case the pedal did not go to the floor either... it just pulsated. He bought both front sensors but then found how to test them somewhere on line (you take a measurement while turning the wheel by hand and you can tell which one is not working right) so he only put one of them in and it solved his problem. He returned the other one and got his money back for that one... so he was happy.