Feeling a thump while braking

I recently purchased a 2021 Toyota 4Runner sr5 premium. The other day while parking and applying the brakes I felt a slight thump in the brake peddle. A soft thump but none the less I can feel it through the peddle. Let off the brakes and applied them again just for it to do the same thing. It does not happen all the time, more often than not I don’t feel anything. I also notice that when that thump occurs the brake lights flicker. Does anyone have any experience with this? I wasn’t able to find much on the internet and the dealer won’t say a word they just want me to drop it off. Any help would be greatly appreciated!

 

Sounds like driveshaft needs grease.

 

Does it make any sounds when the thump occurs?

 

agreed. I believe 3-4 pumps of grease is all it needs

 

Weird about the brake lights flickering when it thumps. Hopefully it’s not the electric brake booster