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Question about Brake Calipers, Pads and Rotors.

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Hi. My 2013 Hyundai Sonata SE has been making squealing noises when braking. However, this has gone away after a while. I read that squealing means it's time to change the brake pads. However, I don't hear the noise anymore. What happened?

Also I would like to know when to replace brake calipers, pads or rotors? I'm pretty sure the Hyundai service center is going to tell me some BS and charge me for extra things. You guys are knowledgeable and can help me greatly.

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