Q: Q: Brakes, rotors, or something else?

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Once my truck has been driven for a little while, when I brake at all speeds, but more specifically at Highway speeds, it feels like the brakes are rapidly on, then off, on, then off. I feel this in the brake pedal. I've had my brakes looked at from 2 different mechanics and both say the brake pads are fine. I have thought it could be the rotors, but I dont really feel the issue in the steering wheel. Could it be stuck calipers? I also hear a "whirr, whirr, whirr," when this occurs. It doesnt seem to happen when first dribe truck.

My car has 90000 miles.
My car has an automatic transmission.

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