There is a tendency to warp the front rotors. This will be felt as a shudder in the steering wheel when braking. The front rotors can be remachined, if there is sufficient material left, otherwise the front rotors will need to be replaced. It is recommended to use factory quality rotors because cheap quality rotors warp very easily and tend to squeak and squeal.Google+
Car Problem Reports
Toyota RAV4 Warped front brake rotors can cause steering wheel to shudder
Toyota RAV4 Problem
Visitor, 2006 Toyota RAV4, 90,000 mi
Had the same problem where the steering wheel would shudder when I started to brake. In my case, this only happened when I was slowing down from highway speeds.