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Its your VSC kicking in. The grinding noise is your ABS kicking in trying to slow the truck down.
You can try Zero Point Calibration and do a battery reset. if you really want to get rid of it, turn the nannies off.
 

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So you want the nannies to work, just not when your doing 50 on a jughandle???

It takes 6 seconds to shut the nannies off. If that's too long, you can do the bypass mod.
http://www.tundratalk.net/forums/tundra-general-discussion/66856-vsc-bypass-mod-2007-a.html

ZPC can be done yourself with a paperclip or the $35 techstream cable. Buy the cable and you'll never have to worry about visiting the dealer to tell you whats wrong with the truck.

Where you driving around with the airbags full on an empty truck?
 
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