Sticking caliper / pad(s)
Strip, clean, lube, rebuild BOTH sides (if DIYing)
If paying a garage for the pleasure, then have discs and pads replaced if significantly more then half worn (or scored or pitted or corroded) since you're already paying the labour and the parts are cheap(er) by comparison. Have the brakes bled too if it's not been done before.
Your pad(s) could be overheating which could decrease your braking efficiency which could make an emergency stop longer which could be the difference between an accident and a near miss, so have it done at your earliest convenience. In the meantime, drive more defensively.
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