Shaky steerling when I hit the brakes?

[91autoeclipse]

Many techs say if the rotors are warped.. The brake pedal would pulse.. and no my brake pedal do not pulse at all..
Are you guys sure?... If it is the case, Checkers on Brooklyn blvd turn them both for $20.

Yes, it does sound like I have to replace my rack and pinion. It has some play to it, but only when I jack up the car and pull on the wheels.. When I drive it i don't feel any play or fade.
By looking at the Rack&pinion.. It looks like an 6 hour job.. So if someone can help me out, it'll be great..

please advise,
thank you,
tsua