I have a Toyota RAV4 D4D registered in Sept 2007 and it has done 30,000 miles. On applying the brakes the steering wheel is juddering, which, according to the Toyota dealership, is due to the disxs being warped as a result of brake pad wear. They are claiming that replacement of the disks is not covered under the warranty as it is a wear and tear issue. I had the same problem with my previous RAV4, but because it was within 12 months of age it was done under warranty. I believe this is an issue other people have had and there is inconsistency in Toyota's response, as some dealerships appear to have dealt with it under warranty and some not.