Vibration felt when braking is most often caused by the brake disc rotors becoming out of round in time due to wear and heat. I would first recommend changing your brake fluid - which should be done every 2-3 years. Brake fluid is "hydroscopic" - which means it naturally attracts moisture. As such, the overheating point of brake fluid gets easier - at a lower temperature. This can cause increased risk of rotor warpage and brake vibration. Additionally, extra loads, hills, extreme severe duty operation can negatively influence brake condition to where the rotors may warp.
The rotors should be measured on all wheels for "runout" - the amount of variation from straight and true. Then they should be resurfaced with an on-car brake lathe. The brake pads should be replaced if they are at 50% thickness or below.
Have a technician near you evaluate your brakes to resolve this issue.
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