I'd pull the wheels and look for loose brake pads or even a cracked friction pad, check the rear shoes for broken self-adjusting cable, crack friction pad, broken retaining spring or nail and if the hardware looks in good shape, spray eveything off with some brake cleaner, either have the rotors resurfaced or replace them.
'00 TJ Sahara (RC 4" LA kit)
'06 Grand Cherokee Limited
'07 Ram 1500 quad cab
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