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2004 Hyundai XG350 - Brake shudder and noise

i have had this problem on and off where the front brake s

will shuder and some times i hear some type of a motor noise comes on and i hit the brake and the nose goes away

Good working brakes are not suppose to make any noise.Get your brakes inspected ASAP

Sounds like you’re triggering the antilock brake system. I agree with @COROLLAGUY1. Get your car’s brakes checked out. It could be something simple like low brake fluid but I’m betting not.