good recomendations above . take your front wheels off, examine pads they should all be fairly evenly worn..with twin piston set up one piston will always engae before the other ,then if not siezed the other catches up . From my experiance if pulling to left, right, side is not engaging properly ( eitherside may have oil contamination)or left pad is worn, metal to metal will grab it would cause a dull grind. (left rear pads grabing may swing your front around in slippery conditions) i have done 270000kls on my d22 1998 have had brake pistons sieze twice, symptons were pedal was harder to engage uneven braking pulling to one side , braking was terrible(, can be a bugger freeing pistons ) i do go through 20 inch deep creek often i remove callipers and use a 10mm board between pads to stop piston poping out while with motor running i pump the brake pedal to release stuck piston.mine have synthetic pistons which swell.. the pistons do foul up and the square section ring wil get gunked up or rounded at edges causing the piston not to retract enough,., although this usually causes premature wear on one pad.,done this 2 times already. at 230th i replace the rear drums. those dam adjusters keep fouling up tried lubing them with antiseize , they have the self ajusting cable on them which wont work,, i think you drive in reverse and pull the hand brake hard, rear pads are supposed to readjust .. to test the abs , the pedal will continualy kick back quite hard on you when you try to lock the brakes , I have polished pistons before on lathe using fine linishing strips(emery) i always find reasembly a pain end up with most grease on my hands, best carried out by brake specialist instruct them to pull pistons out and fit new kits,