I feel a vibration when I step on stop brake pedal. Could this be my brake pads need changimg.

Your brake rotors are warped and need to either be shaved or replaced.

Hi, it could be your disc is warped due to wear and it also could be your needing your disc pads renewed. The squeaky sound could be your wheel bearing is needing renewed. Best get it checked out.

you don't say where the noise is. that is important to give a clue where the issue is. when stopping on the brakes 3 things happen. you press the pedal and the abs pump starts pumping fluid. the second is the brake capilers start pushing on the rotors to slow the car. the rotors are attached to the wheels and that stops the car. so if the rotors are warped you will feel a vibration in the steering wheel when stepping on the brakes. if its your foot feeling the pump working that is normal for abs pumping. you should feel it and holding the pedal will keep it working and stop you from skidding if everything is working correctly

If it's a vibration, it might be a brake pad staying in contact with the disk. Normally the pads push away when the car starts moving. (A normal condition called "runout") Try stopping your Jeep tonite by using only rear brakes. (hand brake) Don't step on the brake pedal at all. Then see if it does it in the morning. Don't step on the brake pedal in the morning till the test 20 sec's is over.

If the problem is a thump thump sound it's probably a tire flat spot from setting. Have the tires just been replaced? Could be a softer tirs material.

Installing new brake pads on toyota camry solara 2006 front rotors and pads and rear pads. Steering wheel would shake while breaking on 50+ miles per hour speeds. All fixed now.

How hard are you stepping on the brake pedal? What you are describing sounds like the ABS system activating. When you step on the pedal hard enough to engage the ABS the light will come on, in some cars it will blink. You will also feel the thumping/vibration in the pedal since the system works by repeatedly engaging and disengaging the brakes. If it is happening when you step lightly on the brakes then you may have a bad wheel speed sensor or possibly a bad or miss-adjusted brake switch.

Since the rotor isn't warped. Do you have grooves in the rotor? Are the pads evenly worn? You a bad front 4X4 C/V shaft will also cause this reaction.
I would just unplug the ABS fuse and it will bypass the system to regular old-fashioned brakes.

If I understand you correctly, you feel a vibration it the brake pedal when you apply the brakes. Is that correct?
Have your brake rotors re surfaced; they are warped.

"engine makes cavitating noise" ....what does this mean?

My feeling is that you did not use a high quality pad like the Bendix or wagner thermo quiets and the rotors likely need surfacing even if they are new they can be warped due to the way they are stored. Good Bendix pads for this vehicle retail for around 75.00 or more