2002 F-150. Shudders while breaking, steering wheel shakes back and forth and the truck kind of pulses forward too like the rotars are warped. I don't think the pulsing is because of the rotars because these are fairly new. The abs kicks on even when it's not the slipper or braking hard. Doesn't happen on clear blacktop but with a little snow it seems like they work when they don't need too. The truck also shudders when starting out going in reverse. I dont even know where to start.

 

check your lug nuts. I changed the bearings on my old ranger and the wheel recentered itself and so the lugs were loose and i had the same problems, shuddering while breaking and slight one when first in reverse