2017 Toyota RAV4 - groaning brakes

My brakes make a groaning sound now whenever we have a lot of moisture. It started when i was driving in heavy slushy snow and the next day the wheels made an awful rattling sound. After i washed up into the wheel wells, it stopped. It still does this after a big snow tho. Whats going on?

Either rust and debris on the rotors or in the ABS sensor. My daughter has a 2012 Rav4 and even after I pull the wheels and clean with brake cleaner they will still groan

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Ours will do that, then go away, rust on the rotors my best guess. Take a long drive and do not spare the brakes.

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Thank you!