You should keep all four tires on the ground !!!! LOL ! your rotors or brake pads are bad. do you feel it shake in the steering wheel ? Check these three items and im sure it will fix.......1) jack front car up and try to move front tires in all directions, does it feel loose at all? if yes check tie rod ends, upper and lower ball joints. 2) check brake pads for wear, heat from pads warp the rotors and cause the break pedal and steering to shake or vibrate. 3) If nothing can be found wrong with the tie rods or ball joints i recommend changing the rotors and brake pads, a pretty cheap fix.
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