Recently noticed that my SUV or the steering wheel vibrates when I apply the brakes. A friend mentioned it could be the rotors. There's no grinding noise. Also, every now and then the steering wheel vibrates when the the SUV is in motion. I just recently took it to a dealership. They said it didn't need an alignment and they didn't find anything wrong with the brake system. I don't think they actually checked the brakes.

typically when you apply brakes and you feel a vibration in the steering wheel, that indicates warped rotors. have them turned iff they have enough thickness or replaced if they are to thin. hope this helps.