I too experience this thud as well. It has been doing it since new but, not every start/stop. The rear brakes have "hung-up" a few times after sitting for awhile (slides rusty?). I don't have a definitive cause.
Well I take back the sitting part from the previous post. Go run a few errands today and return home after about 20 miles and the passenger side rear brake over heated. The driver side is fine. The last time this happened it was both rear brakes. The parking brake was not set prior to leaving or during the trip.
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