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Youre brake rotors are warped. You need a brake job. Do only the front brakes first. If you still feel some pulsating in the brake pedal then do the back. The front brakes on a vehicle do over 80% of the braking work. They are the most likely to warp.
Generally your rotors can be machined. This will smooth them out and prevent most vibration. The problem could also be with your brake calibers but mostly it would be the rotors. If you have had them machined in the past they might be beyond tolerance and will need to be replaced.
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