when ever my truck did that it was because the brakes wernt adjusted right after the lift was put on so u might want to check that...and also after off roading the rotors are dirty so it slips i guess, but i am just guessing so see if they are adjusted right
if you changed the brake lines when you lifted it, or disconnected them at all, you could have air in the lines. bleed the brakes starting from the closest to teh master cylinder working towards the farthest (ie. FL -> FR -> BL -> BR).
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