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when I drive above 60 miles/hour and press the brake paddle moderately, my D shakes like if I am driving on a pavement. I have a 2012 Crew, HEMI, AWD with only 350 miles on it. I searched the forum for something similar, but I found nothing.
This technique has been around for ages, but the fact is you shouldn't have to do this with a factory new set of OEM brakes. I'd let the dealer look at it to make sure you don't have a warped rotor, or even something more serious going on.
I had the same problem with my 2008 Chrysler 300. Take it back to the dealer mine had warped rotors. They were first going to cut the rotors but I demanded they give me new ones since the vehicle was brand new. Once the rotors were replaced it braked smoothly.