Make sure you grab the wheel at 3 and 9 oclcok and try to wiggle it. If there is wiggle then bad suspension component. Grabbin at top and bottom of wheel will show wiggle ona normal, ok wheel.
Secondly, i had the steering wheel shudders when braking. It is 99.9% likely that this is not due to warped rotors (it's almost impsosbile to warp rotors today) but instead due to crappy oem brake pads that have gotten hot during agressivle braking and then someone has sat with their foot on the brake while at rest, depositing brake material onto the rotor, leaving a high spot. You can remove the rotors and have them turned to shave off some metal (and the high spots) or you can replace them. If you do then you ought to replace your pads at the same time, and do not replace them with shitty axis, oem etc as you will end up in the same place you are now.
I just bought OEM replacement rotors at pelicanparts.com and also put on new ceramic brake pads from Akebono (tire rack for the front and ajusa.com for the rears) and the braking is now as smooth as butter.