How do I replace front rotors and pads on a 4 wheel drive? on 2003 Ford F-250 Super Duty

When braking the front end shimmys violently, the steering wheel goes right to left the faster the speed the worse it becomes. I am thinking it is my rotors that are warped.

yep, sounds right. remove the caliper assembly and remove the mounting bracket. the rotor will then come off. make sure you torque the wheels correctly to 140 lbs to prevent warping the new ones.

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probably is, i would also check tie rod ends