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3 ways: Drive the vehicle and do both light braking from 25mph then hard braking from 55mph, if the brake pedal pulses up and down or the steering wheel shakes or vibrates, then you have at least one warped rotor. If stops are smooth and relatively noise free then go to #2 below. Pull the rotors and do a visual inspection, look for cracks (even small ones) ...


This symptom is a classic for lug nuts coming lose while you are driving. When lug nuts come lose the wheel will vibrate and after a time, as other lugs on that wheel come lose, it will scare you to death. Check all the wheels for lose lugs as it is hard to identify the correct rim with the lose lugs. Sadly, I know this by experience.

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