Brakes use friction to stop a vehicle. The tiny jerk you feel at the end of a stop are the brakes locking up. Although engineers design brakes using materials that have a relatively low static friction relative to sliding friction, static friction will always be higher that sliding friction, so at some point while slowing, they will “grab” and the vehicle will stop more suddenly. That sudden stop is almost imperceptible because you were already moving very slowly by the time it occurs, but it does occur.
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