Break Upgrade

I had something strange happen to me.
I drove my 2000 4Runner up to big bear.

On the way back down the car started to shake violently when I would push on the breaks.

I eventually pulled over into turn out and had to push really hard on breaks to stop the car.

I then basically got off the mountain in second gear as to not use the breaks much.

I drove my car to work for the next week and everything was fine.

Randomly yesterday on my way to Long Beach 45 min drive. My car started to shake again.

Then I pulled off and it was was shaking when I touched the breaks.

Then parked the car and inspected it. Could not find anything wrong. No strange smells.

Then I got back on the freeway and everything was normal again.

What is happening? 1999 4Runner 250k miles.

I’ve heard the 3rd gen 4 runner can easily get warped rosters or something? Can you look into it. And there is like a putting on Tundra parts to fix this issue??
Can someone tell me about that? And please send links to parts.