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Brake popping/clunking noise

My 2001 MDX has approx. 73k miles now and it has had the brake noise since it was new. I also took it in for inspection shortly after I bought it and was told that the noise was normal for the MDX. I didn't buy that garbage, but figured I would drive it until I had a problem with the brakes, and then take it in for warranty service. I will have to say that I have had no brake problems and, in fact have had very little brake wear. I still don't like the noise - it is actually somewhat embarrassing, but I have learned to live with it as long as I don't have any problems. I really love everything else about the car and would buy another one.
 
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