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You don't clarify as to whether the vibration or "limp" is only there when braking from speed or whether there is a vibration at the rear when travelling at a constant speed. If the vibration is there all of the time, especially when travelling at constant speed, the most likely culprit is tyres, differential or driveshafts - potentially a driveshaft has suffered a minor distortion and that would result in both vibration and / or the limp. If you have access to a dial gauge indicator, you could check if the driveshafts are running true or suffering a minor out of round. N6 JMX

Sounds like you’re going to have to overhaul the brake calipers On the other hand… It’s a known thing that pad deposits can build up on the discs and cause this juddering A good few heavy braking sessions from speed can remove these deposits and cure the problem till it comes back