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For the five years I've had my car I've always heard this sound. It happens when I brake to a complete stop and then roll forward slowly with my foot off the brake. It is worse when colder out.

I've replaced the calipers and bled the brakes. I don't believe the caliper is dragging and causing the noise and don't see any unusual wear on the rotor. The sound goes away if I tap the brake pedal.

I'm thinking it might be the wheel bearing going out as they are still original. Has anyone experienced this? The car has 100k miles.