Can you brake hard enough to cause the ABS to kick in?
Could be that the pads were changed, but the disks needed it too and you're not getting enough travel as a 2001 S8 should have pretty good brakes.
I just put a set of Pagid pads and disks all round on mine from eurocarparts (who often have some great special offers).
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2010 Jag XF 3.0D Portfolio S
I know.. I know..
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