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Okay, quick update, and I feel silly now (maybe) for posting this thread. As an experiment, I drove around my 2020 Corolla today, and paid very close attention to how the brakes sounded. I also noticed a "thunk" after rapidly releasing the brake pedal, just a little quieter versus the Yaris. That sound comes from somewhere behind the dashboard right above the pedal. I don't have advanced knowledge of car mechanics, so I don't know what mechanism in the brake system makes the thunk sound. But, I noticed that the sound is very, very similar to the sound that the old sticking brake caliper was making after I released the brake. Then I went and drove the Yaris around, and I noticed that the thunk sound came from around the same spot behind the dashboard as in the Corolla. Just the thunk was slightly louder versus the Corolla.
Seems my brain was mixing up a normal pedal release sound with the sound of the old malfunctioning caliper, because they sounded very similar. The fact that I could reproduce a similar sound in my Corolla makes me think I'm just hypersensitive, and it's all in my head. I'll continue to pay close attention to the sound of the brakes in the Yaris over the next week, to make absolutely sure what I'm hearing is from the pedal.
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