Had that issue on my wife's expedition. It turned out that the brake hose was collapsing. Replaced hose for around $25.00 and all was fine. Her expedition is a 2010 but only has 36K miles on it.
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Robert & Diana McNeal
2019 Montana Legacy 3791RD 20th Anniversary Edition
2014 F350 4x4 6.7L SRW
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