shudder under braking...help diagnosing please!

[QxMan01]

Hey all, I've noticed a shudder in the vehicle/steering wheel under braking lately. It's not entirely consistent; usually it happens when I'm braking on a straightaway from highway speeds (I notice it generally when I exit off the highway to/from work). At first I thought it was maybe because my rear right wheel was bent, but a new wheel and new rear tires were installed earlier tonight. The shudder isn't 100% gone, but it isn't nearly as severe as it used to be. I know that this can probably be numerous issues, so please bear with me! Any diagnosis' and resolutions would be greatly appreciated.

Just a little bit of background, I probably drive 15-20k miles a year and, to my recollection, had the pads (both front and rear I believe; since it did cost me around $800) and possibly the rotors, replaced last year sometime. I currently have 152k miles.

I love my truck, but lately it seems like everytime I fix something there's something else that needs to be addressed. This truck is starting to become a money pit lol; this is a 2001 Qx4. Thanks in advance, everyone!

[Freyspath]

well if the pedal pulsates when you brake, thats a simple diagnosis.. you have warped rotors, time for some new ones. If it makes a weird cluck clunck noise and the pedal gets "spongy" thats your ABS system. Hope this helps.