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Just an idea the guy i work with his work truck an older Tundra like a 02 did this. he tried turning the rotors replacing the pads, machining the rotors turned out to be a bad gasket was leaking diff fluid onto the rotors somehow.
My 92 used to do this when I first got it (Mine used to jerk hard to the left). Turns out that I had REALLY BAD bushings in the rear end. Check the ones in the Carrier Arm, as these were my culprit. Changed them,, no more rear end dance.