Could be sticking disc brake caliper(s), or sticking rear wheel cylinder(s). If one wheel locks up before the others, that would likely be the problem caliper or cylinder, since that brake wouldn't fully disengage, and would therefore be dragging (which would accelerate the wear on those brake pads or shoes, also).
SOURCE: 1998 Ford Taurus/ Brake lights are not working.
most likely cause is that the multifunction switch is defective on the steering column. MOTORCRAFT Part # SW5599 Price $96.00
here is a photo.
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SOURCE: how to bleed the brakes for 2001 ford taurus
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Bleeding The Brake System
Bleeding
When any part of the hydraulic system has been disconnected for repair or replacement, air enters the lines causing spongy pedal action (because air can be compressed and brake fluid cannot). To correct this condition, it is necessary to bleed the hydraulic system to ensure all air is purged.
Always begin bleeding the brake system from the furthest wheel cylinder or caliper from the master cylinder; the right rear.
NOTE: The right side of the vehicle is the passenger side. The sides of the vehicle are determined from the driver's perspective. This reference is taken from sitting in the driver's seat, facing forward.
Maintain a full reservoir during the bleeding operation. Never use brake fluid that has been drained from the hydraulic system, or from an open container, no matter how clean it is. Always use brake fluid from a new, sealed container. The front and rear reservoir will drain as the front or rear brakes are bled.
SOURCE: I need a replacement keys for 2001 ford taurus
A good place to start is a ford dealer. Often they can cut you a key off the VIN number. You will have to go there in person., and some kind of proof of ownership would be needed!
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