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Knocking Noise When Brakes On

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Hi all, I've just bought an '07 RX400H. I've noticed it makes a sort of knocking noise when I push the brake pedal. It does it even while the car is stationary. If I release pressure on the pedal a bit (but not take my foot off altogether) the noise stops, so I'm wondering if it's some sort of pressure relief valve I can hear operating. The brakes work OK otherwise. Is this normal behaviour?

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