Recently I found out that when I drive at 80mph and apply the brake softly, my steering wheel starts to tremble. If I drive at 40mph and brake, nothing would happen. I have a 2002 Acura TL.

Does anyone have a similar experience? Please advice.

 

Man, that sounds alot like the symtoms of warped rotors, do a search for this topic and see if anyone with that problem is getting experiences like you are.

 

I've had same problem and the dealer covered under warranty. They re-surfaced the rotors and replaced front brake pad when I was 18K miles. Lot of members have already covered under warranty, too. Try do a search on that. Good luck!