Sounds like warped front rotors. www.trailvoy.com All the answers for your Voy from our enthusiasts forum!
you might have a router or caliber gone
Rotors out of round - need to be re-surfaced or replaced
This is usually a symptom of excessive run-out (warped) on front brake rotor or rotors.
is this 4 wheel drive
Have the tires and wheels checked. It could be a bent wheel or a damaged tire.
Tires,inner tie rod bushings, if the steering wheel shakes when brakes are applied - brake rotors warped.
Warped rotors
If it shakes only when the brakes are applied, its the brakes. Just because they are "good" and stop the truck well doesn't mean they are balanced and wont cause a vibration.
It must be the rear brakes at fault.
In general, warped brake rotors will cause a vehicle to shake when the brakes are applied. If the problem is severe, it will also have some impact on the ability of the driver to control the car when braking. If a car shudders or shakes when the brakes are applied but is otherwise smooth when driven, the brakes are a most logical cause. Use the link to the related question below to help you decide what to do if you suspect a warped brake rotor.
You went thru a deep puddle with hot brakes. The disc gets doused in cold water and warps.
You probably have rusty/scored brake rotors.