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1. Warped Brake Rotors. This is the most common cause of a steering wheel shaking while braking. I would say that about 99% of the time a warped rotor is causing your steering wheel to shake when you step on the brake pedal. Most of the time you will also notice a shaking or pulsing in your brake pedal as well.
According to O'Reilly Auto Parts, the most common cause of a shaking steering wheel is a bent tire wheel, which is the probable cause if the shaking happens at high speeds. To diagnose this, the car needs to be elevated and each wheel spun to check for sideways movement.