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The antilock brake/stability control system will do a system pressure check every once in a while when you are just getting going. I have felt and heard it do it as I am pulling out of my carport. You can hear it and feel it in the brake pedal just as described. The brake pedal kicks back a bit. It's a little unnerving if you do not know what it is. My truck does it too and it is described in the owners manual.
It's normal.
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