When I depress the brake pedal the car slows down however the there is a knocking sound, the car shudders and the brake pedal pushes back and then doesn't rapidly under my foot? Does anyone know what this could be?
abs?
Alternatively, something is out of line, pushing the piston back in the caliper. Could also be the brake servo I would imagine if its a bit late keeping up with the sudden extra power requirements.
Get it checked, most qwicki fit types will diagnose it for you (it could fail the MOT anyway) and then you can decide whether to fix it yourself or let them do it.
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