This is probably due to worn brake rotors on the brakes, if there is no vibration when driving then this will be the cause.
your rotors on the front are warped. they need to be turned or replaced.
The Astro Van power steering and brakes work off the same pupm. Check the pump for fluid. If it's full and the brakes and steering still hard you must replace the pump
Warpped rotor. rotors are warped have them checked and turned or replaced. they should be turned after every brake change
The power steering pump also provides power for the power brakes.
You probably have severely warped front brake rotors. Machining or replacement of the rotors would be necessary to correct the problem
Worn bushes or warped brake rotor. Replace faulty item.
You replace the brakes on an ABS S10 the same way you replace brakes on a non ABS S10.
just replace the rear brakes
The most likely problem is warped rotors. Have rotors turned or replaced. Replace front brake pads.
This will greatly depend on what kind of brakes you have and which parts you are trying to replace. Do you have disc or drum brakes? If you have disc brakes, do you want to replace the calipers, pads, or rotors? If you have drum brakes, do you want to replace the drum, or the shoes?