My '07 rav 4 had some bad @$$ brakes when I bought it, my '06 Camry had these slushy feeling brakes that I hated yet they lasted 100k. I still have the stock rotor on mine because it looks fine. Simply remove wheel, then caliper, then remove the mount and replace rotor. Then replace the pads. The put together, repeat on all 4 brake rotors and bleed brakes - your problem should be solved. Use good stuff (I always use akebono for pads and raybestos for rotors).
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