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I just had this happen the other day, also while autocrossing, after about 4-5 runs. Took me a while to figure out the sound was coming from my car when moving through grid.
While removing the rotor, I had to give some whacks with a hammer and while doing that I heard a pebble hit the floor. Turned the rotor and the sound was gone. Removed it anyway to have a look, no marks on the rotor surface.
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