GMC Yukon 2007 Owner's Manual page 492

Brake Wear
Your vehicle has four-wheel disc brakes.
Disc brake pads have built-in wear indicators that
make a high-pitched warning sound when the
brake pads are worn and new pads are needed.
The sound may come and go or be heard all
the time your vehicle is moving, except when you
are pushing on the brake pedal firmly.
CAUTION:
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The brake wear warning sound means that
soon the brakes will not work well. That
could lead to an accident. When you hear
the brake wear warning sound, have your
vehicle serviced.
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Notice: Continuing to drive with worn-out
brake pads could result in costly brake repair.
Some driving conditions or climates may cause
a brake squeal when the brakes are first applied or
lightly applied. This does not mean something is
wrong with your brakes.
Properly torqued wheel nuts are necessary to help
prevent brake pulsation. When tires are rotated,
inspect brake pads for wear and evenly tighten
wheel nuts in the proper sequence to GM torque
specifications.
Brake linings should always be replaced as
complete axle sets.
Brake Pedal Travel
See your dealer if the brake pedal does not return
to normal height, or if there is a rapid increase
in pedal travel. This could be a sign of brake
trouble.
Brake Adjustment
Every time you make a brake stop, your disc
brakes adjust for wear.