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Definitely the front brake rotors needs to be replaced. Sometimes rust can form on the brake disc and cause uneven surfaces. Therefore when you brake, your steering wheel shudders.
Most of the time rust is formed when the car is washed (wheels and all) and left there for at least 1 or 2 weeks.
If your brake rotors are still less than 30,000km, you can do machine skimming. Anything above 50,000km have to replace the brake rotors.
Hope it helps.
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