Wheel Imbalance: Worn or unbalanced wheels can cause vibrations through the steering wheel and brake pedal. It might need balancing or alignment by a mechanic.
Brake Rotor Warping: Excessive heat generated during braking can lead to distortion (warping) of the brake rotors. Warped rotors create an uneven friction surface leading to pedal pulsation. It might require resurfacing, fixing any underlying cause of excessive heat generation like seized caliper pins.
Brake Caliper Issues: A sticky or defective brake caliper causes inconsistent brake application resulting in brake juddering when braking. Check if the caliper moves freely on its guides. Replacing calipers or cleaning/lubricating components often solves the issue.
Suspension Problems: Worn suspension components may not effectively absorb the forces involved in braking and transmit those vibrations to the brake pedal. Inspect control arms, ball joints, bushings, tie-rod ends, etc. if damaged or have play consider having them replaced.
Faulty Brake Hoses: Deteriorated or defective brake hoses can sometimes cause vibration under braking. Replace brake hoses if they bulge, crack, or leak.