It's the front rotors. Had the exact same issue with ours three weeks ago when you hit the brakes around 50mph+. Ours has 74K miles. Had an independent brake shop do the work and put new front rotors. Ran me about $450. But rides fine now.
I need to find out more about this steering wheel damper. My RRS has been having that issue I beleive. Can feel the road right up through my steering column, like there is no dampering anymore.