I had this problem with my G35, I took it in several times to the dealership.
They said they due to our good habit of slowly coming to a stop the brake dust builds up inside and creates a layer that's why you hear this sound cause it's scratching against the roters. Try this. find an empty road and slam on your brakes from like 30 - 40 mphs. It should remove all the dust and the sound will go away.
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