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sounds like the brake rotors are out of round ! if your rotors are still thick than try to have them turned, if not than you might have to buy new rotors ! also you might consider changing the brake pads !
we just replaced all the rotors and pads and one rear caliper on an 09. The mechanic said keep an eye on uneven pad ware due to calipers seizing up. That will ruin a rotor quick. 140,000 miles