(2002) Help with Diagnosis of Braking Issue

(Not sure which forum to post this in) I am a new owner of a 2002 Tundra, 140,000 miles, in great condition. I am also new to this Tundra website and any online forums for that matter. I have an issue when I use my brakes, and would love some help.

Whenever I press my brakes, especially when coming to a stop at a red light or stop sign, my truck seems to lurch forward and backward as if it's rolling over a hump each time a tire passes 360 degrees. The steering wheel doesn't shake (i.e. warped rotors) and it doesn't simply make a nose dive (i.e. shocks/struts). I don't know how to describe it besides lurching forward as the car comes to a stop, only when brakes are applied. The lunging forward slows down as the car slows, and is faster when at faster speeds while applying the brakes. Could anyone help me diagnose what might be going on.

I am definitely NOT a mechanic, and it could easily be the rotors or shocks/struts. Just not sure. I'm open to any questions if you need clarification.

Thanks,

 

Could be tires, internal tread separation.

Got anyone nearby that is mechanically inclined? Is the up/down motion visible from outside?

 

I have asked a friend and he said possibly rotors, but without my steering wheel shaking or brake petal shaking, I'm not sure if that's what it is. And no car "shake". I would look at the tires, but they're very new.

 

Could still be brakes. Have you pulled the rear drums to inspect for oil inside?

Also does the lurching go away if coming to a stop in neutral?

 

Clean Throttle Body and adjust Throttle Cable. Grease zerks on rear drive shaft. Pay special attention to the rear most zerk that greases the Slip Yoke. Depending on how long its not been done you could fill it for days.

Sounds weird, but give it a go and report back.

 

Turn your drums...

 

If its a ‘Pulsing’ problem, then might be warped front rotors. Mine were warped since 2004 until 2018 and the feeling coming to a stop was a pulsing that was more noticeable as the truck slowed. At speed not so much.

I’d describe it as a pulsing pulling into a slow down versus your lurching. Steering didn’t shimmy. Could also be the drums as described above. Maybe new shoes needed. My ‘pulsing’ stopped with new Front Rotors.