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To change the brake pads on a 2004 Hyundai XG350, start by lifting the vehicle and removing the wheel to access the brake assembly. Remove the caliper bolts and carefully slide the caliper off the rotor, then take out the old brake pads. Install the new pads by placing them in the caliper bracket, reattach the caliper, and secure it with the bolts. Finally, repeat for the other side, pump the brakes to seat the pads, and replace the wheels before lowering the vehicle.

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