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brake system acting up on 2006 Nissan Titan

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i got a 2006 nissan titan 4x4. there has been times when the brake light would turn on and the brake pedal would become loose. the vehicle would brake but feels very awkward. i was advised that it would possibly be the abs relay system underneath the hood. don't know, need help to find out.
(1) Answer
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Brakes are important to have checked out if you are in doubt! The anti lock brake system in your truck applies and releases the brake fluid to each wheel if it senses one or more wheels has locked up To experience an anti lock brake application find a large open parking lot get up to about 25 MPH and apply the brakes hard you will feel the brake pedal pulsate and may hear the ABS solenoids lock up and release.