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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.
The most common cause for a squeaking noise when turning the  steering wheel on any vehicle, including a 2001 Toyota Avalon, is  the belt that runs the power steering pump. â¦If the belt is fairly  new, a small drop of any dish soap on the belt while the car is  running will clear up the noise.