(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,