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Re: shakes heavily when braking over 50 mph.
The shaking would be from your front rotors. First, loosen the lugs and retighten them with a torque wrench (not an impact gun) to the proper setting as described by Toyota. If the lugs are tightened unevenly or too tightly, it will artifically warp your rotors. If this does not fix the issue, your rotors are most likely warped from overheating, or being sprayed with water while hot, or from age. Get new rotors (and pads - always use new pads with new rotors), install them, and torque your wheels properly, and you should be in good shape.
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If when applying the brakes the steering wheel shakes then your front rotors are warped and at the least need resurfaced and most likely the brake pads replaced. But more likely the rotors are too thin which has allowed them to overheat and warp which causes the shaking. In this case new rotors and pads are in order. If when braking tou feel the shaking in the seat of your pants then most likely the rear brakes are the issue. Same problem as the front, warpage, but your rear brakes are most likely drums. Again, possible resurfacing and new shoes; but more likely new drums and brake shoes.
But I wonder? Did this vibrating just start all of a sudden or maybe after a near accident requiring you to brake very heavily and possibly overheat the brakes. Or my main concern, to keep this from happening again, after pulling some type of trailer that you intend on pulling again. Pulling a trailer without its own brakes puts a much heavier load on your trucks brakes and just repairing them won't keep it from happening again if you ARE pulling a trailer. Higher quality rotors/pads/drums/ and brake shoes can help but if the trailer is too heavy for the truck nothing but installing brakes on the trailer or a lighter trailer will stop you from warping them again.
Lastly, in general when you let off the gas and the whole vehicle shakes the driveshaft/u-joints are common causes. Same with the steering wheel if it shakes when letting off the gas, but only on a 4x4 or AWD vehicle. So check your driveshafts and u-joints and make sure they are tight. But unless you find something obvious there I would wait until you have the brakes sorted out and see if that doesn't stop all the shaking.
OK, when the ABS module is unplugged, the same results. That tells me that the ABS system is not working properly.
Did they look into the master cylinder and other abs related components?
Any ABS codes on it?
If steering wheel shakes above 50 mph that's likely to be the tires on it, rather than a brake problem.
Have tires balanced and rotated and inspected for out of roundness that might cause vibration above 50 mph.
warp rotors tend to make noise at low or high speeds depending on the degree or how badly warped they are, if the brake pedal kick back when you apply the brake then you will have to get new rotors installed
Could be many things to look at. 2001 Corolla, assume disc pads in front, and regular drum style brakes in rear. Generally, most of your braking will come from the front disc brakes, and no adjustment is provided in these. Rear drum brakes can be adjusted two ways. Manually, they are adjusted by accessing the adjustment "cog" or threaded rod via a slot in the back of the plate that the drum fits up against. This should be done when the brakes shoes are first installed. As an alternative, the brakes will automatically adjust when you apply the brakes while backing up. I'd suggest that you find a big old empty parking lot, without a lot of light poles to hit, and place car in reverse, get going about 5 MPH, then hit the brakes firmly to stop. Repeat this a dozen times and see what results you get.
I am, of course, assuming that the brake fluid level is good and you see no leaks from either the front calipers or the rear brake cylinders.
I DON'T KNOW IF THIS WILL HELP BUT NARROW IT DOWN,WHEN BRAKING WHAT SHAKES,STEERING WHEEL SHAKES BACK AND FORTH IT WOULD BE A FRONT BRAKE ISSUE,MAKE SURE CALIPER HARDWARE IS OK,AND CALIPER SLIDE PINS ARE FREED UP,IF THE WHOLE CAR SHAKES IT'S THE REAR BRAKES,PINS SLIDER AND HARDWARE ON REAR ALSO,HOPE THIS HELPS