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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.
Common reasons for this to happen: 1  Tire issues: The most frequent causes of a vehicle shaking while driving stem from tire issues. Tires begin to behave differently when worn or out of balance. 2  Engine firing issues: When one or more of your spark plugs isnât firing correctly, it can cause your car to vibrate.