I own and drive a 2004 Tacoma sr5 TRD. I have recently came accross this issue where when I brake (usually at near stoping speed) my break pedal will lift back into my foot as if its rejecting the break, only momentairly, then it will finalze the normal brake and stop. It will also make a loud noise (that is coming from the front of the truck) that sounds like something is either winding up or similiar to the noise you would hear if you had a manual car and downshifted too quickly (only way to describe it). Last week while driving in the snow/ice, when there was ice and I would attempt to brake, if the tires still slid it would make this noise/"pedal thrust" if you will repettively until the tires could catch better traction. I had a mechanic look and inspect my entire braking system, could not find anything wrong. Will be having another take a look soon. I have been told be a friend it is more than likely something in the ABS, or brake booster. Any help would be appreciated.

 

I would guess ABS. Could you try resetting the sensor? Just pull the fuse and wait a few minutes.