Infiniti Qx56 Questions

I have a 2004 Q56 with 110,000 miles.  The brakes ...

I have a 2004 Q56 with 110,000 miles.  The brakes make a terrible noise and grab if I put the car in park and then back in drive without turning the engine off.  The problem seems to stop when I turn the vehicle off and then restart.  Recently, the same problem has started happenning randomly, and not just if I park the car while it is running. 

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I own a 2008 QX56 with (naturally) 64000 miles on it. I bought as a certified vehicle which naturally carried a limited 100000 mile warranty. I recently noticed condensation in my passenger side headlamp and the headlamp went out. I thought no pro