Q: When coming to a stop my brakes make a grinding/clicking noise

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When I'm driving at normal speed my brakes are fine, but when I'm coming to a stop, within the last few feet my brakes will make a grinding/clicking noise and I can feel it in the brake petal. It doesn't do it every time just every couple of times. It used to do it a lot when I had it in 4x4 and pressed the brakes, but I have never had this problem in 2wd until now. I checked my pads and I have plenty of pad left, my rotors look fine to me. I can't seem to figure it out. Also I have disk brakes in the front and rear and they all looked fine to me. Any help would be appreciated.

My car has 177000 miles.
My car has an automatic transmission.

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