Erratic Shudder When Braking (Kinda long)

[camrodv6]

Greetings to everyone! This is my first post on the truck forum. I normally have to post on the Camry forum since it acts up more frequently than my old truck. Speaking of which, it is a 1990 Extra cab 4wd SR-5 with the v-6, 5spd, ADD front hubs and 165,000 pretty trouble-free miles. I bought it brand new on Presidents day 1990 so it'll be 14 yrs old Monday! My 4yr old wants to have a cake for it...
Anyway, recently I've noticed two strange things occuring that may or may not be related:

1. When cold for the first 10 minutes or so the brake light with go on and off with no real pattern. Doesn't come on at all after the approx 10 or so minutes down the road. Temp related?

2. Occaisionally, when braking for a stop, the whole truck will shudder during the last couple of feet. Also noticed this when parking etc. I've tried to make it do it in the driveway and it seems to be a random thing. It kind of feels like the rear brakes are intermitently locking up but I can feel it all over the truck.

I've crawled underneath the truck and found nothing really amiss (except for the 2nd muffler/tailpipe rusted out), and pulled the front wheels and checked the suspension, frt brakes etc. I need to perform a complete service soon and was wondering if anyone had encountered anything like this on their vehicle and might be able to give me some advice here. It still has the original clutch, pressure plate and throwout bearing which does make an occaisional funky noise when I push in the pedal.
Thanks in advance
John

[MenaceSQL]

For the brake light, maybe top off the brake fluid reservoir to the "Max" line to see if the problem goes away.

For the shuddering, maybe the rotors and/or drums are warped and need to be resurfaced or replaced?

Just my 2 cents...

[camrodv6]

Menace,
I had thought about the rotors and drums being the culprits especially since they have never been turned. I've had vehicles with bad rotors/drums and they shook every time you hit the brakes at almost any speed. Usually the higher the speed the more they shimmy.
In this case, the shuddering is at the last couple of feet while stopping. It's almost like something is misaligning or binding the last few feet of braking distance. I also have topped off the reservoir.
I plan on pulling it in the garage today and checking the rear drums, brake shoes, brake hardware, springs, motor/tranny mounts, and might temporarily disconnect the rear level compensator between the rear axle and frame. I just hope it's something simple!
Thanks,
JR