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You will need to replace the brake pads to stop this squeaking sound. The sound is being generated by a set of "wear indicators'. It is a small tab of steel that is attached to one of the pads on either side of the car. (One per side) When the pads are worn down to their usable limit, the wear indicators will rub the rotors when the brakes are applied. The sound is then transmitted through the rotor causing a screeching sound that is very irritating. If you allow the car to continue with out replacing the brakes (getting a brake job) then you could possible be in for a more expensive cost to replace the rotors too.

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Q: How do you fix the squeaking sound whenever ypu stop on the brake for 2001 Toyota sienna?
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