Tip & How-To about 1987 Audi GT

Brakes

Front brake discs can warp in extreme circumstances, but it's not common. They typically last about 55,000 miles before needing replacing. Pads should be replaced when they're worn. The original Audi rubber brake hoses leave a lot to be desired. Replace them with AeroQuip steel-braided brake hoses and you'll notice a marked increase in the feel of the brake pedal in the car. The reason is that the old rubber hoses tend to 'give' a lot and expand when put under pressure. The steel-braided ones don't, so all your foot-pedal pressure goes direct to the brakes. The handbrake cables rust and seize up with monotonous regularity. Good quality after-market items can be had for about £16 from German & Swedish. Takes about 30 minutes to replace if you've got access to a hydraulic ramp. Impossible to replace if you're trying to do it lying under the car on the ground.

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rear brake pads wear out every 30000 miles on 2002 3/4 tod hd , rotors are pitted bad

That's to be expected and is completely normal.

Rear brake shoes as fitted to drum brakes can typically last up to 60k miles with periodic adjustments, but you have rear disc brakes and the shoes will typically last half of that.

Also, modern brake pads no longer contain asbestos and are now made using harder metallic compounds; the direct result is that brake discs (US=rotors) are also considered to be consumable items as they are worn down by the harder pads. It's not unusual to have to replace front discs every other pad change and rear ones with every pad change; in both cases the mileage will typically be around 30k miles on most models.
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At what mileage should the rear brakes be replaced? Is it common for the rear brakes to be replaced at less than 22,000 miles on a 2007 Sonata gls?

Most of the stopping power goes to the front of the car. You usually go thru two sets or sometimes three sets of front pads before you need to change the rear brakes. It sounds odd the rear brakes need to be replaced at 22,000. havee the front brakes been replaced before?
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Steering wheel shakes when brakes are applied lightly

Sounds like a warped break rotor. Needs breaks.
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warped front discs

Here is what happens to cause this, rotors are as thin as poss to reduce weight and increase MPG, when you turn them you remove material and make them even more prone to warping the less steel the less heat they can dissipate, the hotter they run the more the are prone to warp, if you tow something the problem is compounded. To avoid the same issue in the future replace the rotors with name brand new ones, use the best brake pads available, cheap pads can and do cause rotor problems. I worked as a tech for 30 years and this explanation is what I learned in many brake classes I went to and in shop with hands on experience.
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