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This is probably due to worn brake rotors on the brakes, if there is no vibration when driving then this will be the cause.

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Q: Why does steering wheel vibrate when brakes are applied?
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Related questions

Brakes vibrate when im stopping and steering wheel moves?

your rotors on the front are warped. they need to be turned or replaced.


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Have the front rotors turned on a lathe at a dealership. check brakes and rotors


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