I had the same problem some years ago; the steering wheel and brake pedal would judder when braking. I assumed it was the front disc's running out of true, so I replaced the disc's and pads on the front but it made no difference. It wasn’t until I replaced the rear disc's (which were very old) the problem was resolved. The rears must have been transmitting the vibration through the brake fluid causing the front wheels and steering wheel to judder. May be worth checking the rears out first.
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