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Do you think that I have done any damage to the brakes in question and should I get them checked, or is this normal under heavy braking and they will have returned to normal performance after cooling?

Especially if your car is fairly new (e.g. less than a few thousand miles), you experienced what all new brake pads experience, that is, all new brake pads are coated with an anti-rust coating so they don't rust on the shelf before install..generally, it is Cosmoline (sounds like gasoline a bit), when hard breaking happens on new or relatively new break pads, the Cosmoline (or similar coating) will burn off, and smoke.

Very common, totally normal.
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