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sounds like the brake pedal is fighting back after all the thousands of miles of kicking you gave it! check everything is tight for safety then... rule out stuff as you go.
how hard do you mean, when you say kicking back?
check brake fluid level to btw just to rule it out.
we done this the other day, i was slowing down in traffic and i had nothing atall stopped about 2 inches of the back of an SLK :| there was plenty in there and the pedal did feel alot harder after
the knocking feels hard, like being punched in the foot... and the rate of the knocking goes down as your speed does
I had similar to this once. My Cv boot had split and filled the abs ring with crap. The sensor then thought that wheel was locked as it could not sense the ridges on the abs ring spinning. Therefore applying the ABS when it wasnt required.
Worth looking to see if the ridges are filled with Shite on your ABS rings,
cheers goders, having car serviced soon by a mate so he's going to give it a right going over, bloody scary the other day just waiting to smack the back of the Merc, divine intervention ftw