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Don't drain the brake fluid, you won't be able to refill it without bleeding the brakes and probably taking it to a mechanic to have them use a scantool to cycle the ABS pump.

It sounds to me that likely some of the caliper slide pins are sticking, or maybe just poor tires. Really, you will need to take this to a mechanic to at least take a look at. If you're not familiar with how to bleed brakes this won't be a good time to learn, with a secondary performance problem and the relative cold this time of year.
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