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Braking shudder. 200

When braking at highway speeds the steering wheel shudders as if I'm all of a sudden driving a car whose front end is much out of alignment. If I brake either real soft or hard it does not happen, but with any braking in the mid range then it does.
I haven't taken the wheels apart yet, but my first guess as to the origin of this problem is the brake discs needing turning or replacment.
What else might it be? The brake peddle is stiff and steady, but could the system need bleeding?






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