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Either one brake shoe is more wolrn than the other causing one wheel to stop faster than the other, or you need the wheels balencing because the steering is slightly inward or outward Your front brake rotors are warped. They will need resurfaced (turned) or replaced. This is a very common problem on the 1998-2004 WJ. WJ is the body code for that year range Jeep Grand Cherokee.

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Q: I have a 2004 Jeep Grand Cherokee Freedom Edition. Why does the steering wheel shake when I hit the brakes?
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