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It's unlikely that the shoes have asbestos.
Even if they did, the danger from asbestos comes from breathing in visibly dusty air continuously over decades. Asbestos is not toxic, and it's not poisonous. It's really very stable. The damage comes when just the wrong length of fibers irritates the lung over a long period and a few fibers remain embedded into the scars that form,
The danger is comparable to walking barefoot on sandpaper. Doing it occasionally isn't a problem. But if you spend your working day walking on sandpaper, you'll end up with abrasives encapsulated by scar tissue that covers what remains of your feet.
That said, don't clean the brake parts by using a dry brush to create a cloud of dust. Most of it is just powdered rust from the rotor, but you don't want that in your lungs either.
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