About 10000 miles ago I replaced front/rear brake pads and front rotor (had lip top and bottom), all was good.

about 2000 miles ago I noticed a slight pulsating in the pedal when I was stopping and with the window down could hear rubbing from the rear brakes. thinking it was warped rotors I replaced rotors, pads still were 80%. in the past 1000 miles I have developed a jerking in the steering wheel when braking at 40%-70% pressure, if lightly breaking do not really notice anything or if hard break not to noticable

New tires about 6000-7000 miles ago

Question:
1) could this be a sign of just needing to flush the brake fluid and perform a good bleed of the system?

2) could this be related to caliper or piston?

3) possible tire deformation?

4) is there a steering damper? had on of those go on my Land Rover which seemed similar

5) any other obvious thing to look at, seems like its getting progressvily worse (slightly)

162,000 miles

Thanks in advance!

 

Sounds like a caliper is going bad to me.