Sounds a little like a problem I had on a Skoda Superb once. Pads and discs were all fine, but when warmed up and coming to halt, there was a horrible grinding noise / feeling that I could only really describe as "like bark being ripped off a tree" .... which doesn't make much sense, but came into my mind.
Just previously, I had changed one of the ABS sensors and, as it was tough to get out, I had applied a smear of grease to the body of the replacement, and a blob of this grease was stuck on the business end of the sensor, presumably confusing the ABS system and making it do weird things to the calipers.
Cleaning the grease off the end solved the problem.