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You're on the right track with it being possibly the brakes and, it is not always easy to tell whether it is the front or rear.
When this happens, do you notice a 'wobbling' of the steering? If not, suspect the rear brakes as warped front rotors will be felt through the steering wheel.
Generally problems with the front brakes will be felt through the steering wheel and in the seat ( the trucks and yours) if it is the rear brakes. Hard spots or out-of-round rotors are not uncommon.
Rezvani's Latest Post-Apocalytic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.