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Whenever I brake and I'm about to come to a full stop, I hear what sounds like a hammer hitting a nail, just ONCE per stop, coming from the front of the car. Also, sometimes the ABS light goes on randomly, stays on for a while and then goes off, even though ABS is not being used. The ABS thing happens once in a while usually after heavy driving, and the "clank" sound happens just about every full stop.
When was the last time the brakes were done? Do you feel anything in the steering column when the loud thump occurs? Do you feel the car shake at all when braking?