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It's not something that has been reported to us here at Carsguide, so it would seem it's not an issue that is worrying other owners. I would suggest you find another owner of a similar car and ask about their experience, and drive their car if they would let you. That way you would have an idea if it's just your car or is more widespread. I would also suggest you consult a brake expert, one that could assess your brakes and give you a report you could use if you want to pursue it with Toyota. Contact the RTA and ask for a list of their accredited engineers and go to one of them. I wouldn't be upgrading the brakes yet, as you say it would possibly impact your warranty, and in any case it's something Toyota should do if indeed there is a problem.
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