That sounds more like a driveline issue than a braking issue. There have been previous posts on a similar issue before and the majority of opinion was transmission. I remember the fix being fairly easy though. Do a search on it and I'm sure you will run across it. I want to say I saw a post on it between 1-2 weeks ago.

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2010 Lexus RX350 still new
2003 BMW X5 3.0i w/sport package w/68K miles. (gone Thank God!)
2002 Dodge Ram 2500 4X4 cummins diesel w/198K miles, custom repo truck
2009 Scion tC w/46K miles
2007 Suzuki SV650 custom streetfighter
2000 Lexus GS400 w/165K miles