Shaking when braking and going over fifty miles per hour

Hi and thanks for using 2CarPros.

It sounds like the brake rotors are warped. Basically, they are no longer flat and when the brakes are applied, the unevenness causes a vibration and shaking. Since you feel it in the steering, it's the front brakes.

Here are the directions in general showing how they are replaced. I always recommend replacing the brake pads at the same time.

https://www.2carpros.com/articles/how-to-replace-front-brake-pads-and-rotors-fwd

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Let me know if this helps or if you have other questions.

Take care,
Joe