So my Routan came down with this very symptom 4000K into ownership. When traveling > 40 mph and stepping on the brake, the van starts to shudder as if had improperly balanced wheels. Obviously this shudder comes from warped rotors. I brought this up to my dealer on a routine 6K service and they did mention 2 things:
1) This is a know issue
2) It has to be reported before 12K otherwise you are approaching end of warranty for these parts and they are up for a regular service.
... and they will address it! Just like that - no hassles, no bickering.
I was also floored how helpful they were and friendly -- a big to my dealer. I get to drop off the van for service this fri and get a loaner to serve me throughout the service time. I do feel lucky that to find a good dealership with a great service rep.