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I ahve the same issue and it can get pretty bad at times. I have a strong suspicion its my rear brakes though. Feels like when my front brakes were "warped" but no steering wheel shimmy and no shaking dashboard. The rear of the truck feels shaky though so I feel its the same thing as the front, but in back. I also get a very noticable pulsing in my brake pedal when it gets bad, and as I come to a stop at a light its clearly once with each wheel revolution and slow down as I stop. I was gonna go with a quality parts store rer rotor and whatever their descent commonly stocked pads were. The rear brakes dont really do much for braking so no sense dumping $ on em.
Another thing...since we both have 2wd. Have you inspected and repacked your front bearings? I got intermittent brake pulsation that turned out to be a loose wheel bearing.
Check your ball joints by jacking up one side and try moving the wheel out (pull the top out) and use a long lever to try and lever the wheel up from the bottom. There should be no movement or noise...like clicking.