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The other thing you could try is let the handbrake off on a level piece of ground in a car park for instance and from the outside of the car should be fairly easy to push the car. if it feels hard or there is a grinding noise you probably have a binding brake caused by a piston not retracting properly after you've applied the brakes.
What you descibed after 20 mins doesn't sound right despite what dealer said.
i am not a Honda mechanic but served time as a Ford apprentice mechanic 35 years ago. Dave
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