Brake seems to be lurching when braking??

My 2011 runner with 150,000 is acting a little weird. When I brake it seems to grab one wheels harder then the other. I think it is one of the fronts. feels like front passenger. Anyways it brakes fine but when Im braking slower through town and stopping at red lights or stop signs it lurches just from braking. almost feels like it grabs and then lets go on one wheel. Its different from the 5th gen brake walk i like to call it. (just lightly releasing the brake and then full brake at a full stop to get a rock back and forth.) I replaced rotors and pads on both fronts. Could it be a wheel bearing, control arm, control arm bushing, cv axle, A fluid problem, a bleed problem. Idk it could be anything. Anyone experience or heard of it on other models of cars? Or any advice on a diagnosis? Appreciate it!

 

Sounds like you have a sticking caliper unless there is a suspension issue. Does it sway to one side during braking, has uneven pad wear or even a twisted brake line?
Calipers also have finite life and at 150k yours could very well be on their way out.

 

How long ago were the brake rotors & pads replaced? A visual inspection of that would be step 1 if you haven't already. Another member recently posted about a similar issue, and found one of the caliper bolts was about to fall out, the other one was loose. I'd pull the wheels & check.

 

This is where I'd start.