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If you don't want to do it yourself, any place that can adjust manual-adjusting brakes on cars should be able to do it. The procedure is identical. Unfortunately, self-adjusting car brakes have been around so long most car places may not know how to do this.
Every other year (about 20k to 25k miles) we make an appt with our RV Dealer to check the brakes and replace or adjust as needed. We make sure they know we are fulltiming and cannot leave the rig more than a day. So far they've allowed us to make an appt and just show up at the appointed time. Just make sure they understand your situation.
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