With normal city driving, not every time but often, when a soft application of the brake pedal is made to slow down the car there is a slight shudder through the front wheels and a small shaking of the steering wheel. Pressing the brakes more firmly stops this but it is usually more braking than is required in most situations. Also a couple of light touches on the brake pedal before actually braking can stop it from happening. When doing country driving the issue is more severe after travelling for awhile and it takes a couple of dabs on the brakes to reduce the shaking before applying more braking effort to make the shudder go away.
Any thoughts out there. Because it is not a constant issue my initial thinking is maybe something to do with the ABS or brake pads and not the rotors, but I am not a mechanic. Thankyou, Tink

 

Sticking caliper piston(s) / warped rotor(s) / loose suspension. Any good mechanic should be able to diagnose & fix it.

 

Thanks, I will get it checked out soon on the next service.

 

A very common issue. The rotor surface is probably contaminated with residue from the pads. An abrasive wheel will remove it.

 

I will check the rotors out soon. Cheers.