Join Date: Mar 2004
Location: Laytonsville, MD
Sitting for periods of time is the worst thing for a vehicle.
Since it happens when you apply brakes I would start there.
The brake grabbing as you apply would cause those symptoms. a rust spot on the rotor would allow the brakes to apply unevenly. Change out the front rotors and pads. Check the calipers for freedom of movement. Bleed the brakes get some fresh fluid.
2004 Sienna Pearl
no front bumper extensions
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some scrapes, dents and some skids ,UCF high clearance skid, Hybrid 3" lift w/tera 3", Bilstein 5100s, F&RATB, JJ control arms , on 255/85 KM2's
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2006 TJ project truck GR8Tops, flat fenders , 34s , 6' bed are the plan