Not really sure the correct term, but sometimes when I push in the breaks, usually on a long brake to a stop, it will cause the truck to "studder" forward. Kinda feels like it is jerking back and forth. Was just wondering if that means I need new pads, or something more serious.

02 RCSB 5.4 with 285/75 r 16

Just realized there is a brake section. And that it is called pulsing. The truck is from NC mountain area, so alot of heavy braking. Guess the rotors are warped from what I read.

 

yep they're probably warped. you can buy some better than oem aftermarket ones but even the best brakes will warp. i've seen alot of "new take off" rotors on ebay lately. you can have the rotors turned down, if they aint too bad. but your better off just replacing them, they tend to warp even worse after they have been machined.