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There could be a few different things going on there...maybe more than one at once.
1. If you feel chatter...especially during hard braking, you might have rotor chatter or warpage. If the rotors aren't too bad, sometimes they can be turned. If you need replacements, don't buy from Toyota. Factory rotors are ridiculously expensive.
2. If you feel wheel vibration, at a specific speed, you might have a wheel imbalance. This can be caused by an alignment issue which scallops the wheels. You might also have thrown a wheel weight.
3. Vibration can be caused by an alignment issue.
4. Vibration can be caused by hub damage or a rock or mud in hub causing an imbalance.
5. If you feel loosen or shakiness when braking and at other times you might have worn suspension components.
6. Something as simple as worn lugnuts (not tightened properly) can cause shake and if not tightened can cause you to loose an entire wheel.
7. Tie rods, wheel bearings, both should be looked at...especially if you haven't done it yet.
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