Have you ever had the brakes done?
If your a do it yourselfer it is pretty easy to do a brake job on disk brakes. Pull the wheel, a few bolts should get the caliper loose then just pull off the rotor have them checked to see if they are warped if they are you can have them turned if they are thick enough or replace them.
If its not a warped rotor I would suspect worn front suspension/steering componets, idler and pitman arm and tie rods.
If it is a 4x4 and not changed from the 2001 model year there is a little more to it to pull the rotors.