There is a bulletin for the driveline noise, they remove the driveshaft and tighten the pinion, mine started at about 4k miles, the steering noise only happens on my truck when backing out of a driveway when the suspension compresses at the apron.
As for the shudder through the steering wheel, I've had it on all four of my e150's, after doing the "hustle" for any length of time, especially if I'm towing, the rotors grow or "swell" for the heat of braking, but since they are vaned, the metal is cooler at each vane, the expansion causes the playing card in the spokes effect, depending on how hot or how often you cause this heat cycling, it's go away once the rotors cool, but at some point it's here to stay because once the rotors are hot and everything is expanded, you are effectively taking material off of the high spots on the rotor when you brake, then when they're cool, the unvaned portions of the rotor are valleys instead of hills
I've solved the problem by going to aftermarket rotors once the syndrome turns up, the material is better, so the problem is less prevalent, there are dimpled, slotted, drilled and a myriad of combinations between to choose from, some people don't like drilled because it's a place for cracking to start, but look at any Ferrari, Porsche, or other high end braking system, they're all drilled or slotted, to promote even cooling!
The rotors on the front of the truck are floating design so they basically fall off when you roll the caliper out of the way (yes, if you're going to replace the rotors, you have to remove the caliper bracket as well, but it's just two more bolts! I use brake performance warehouse, but there are a bunch of companies out there.
By the by, The stock rotors are only $30 or so from any of the parts places, so it doesn't make any sense to get the rotors machined unless you take the truck to the dealer and they do them under warranty (they do them on the vehicle, so no removal is required) but they're the same crap steel, so it's a never ending cycle once it starts. My dealer is only ten minutes from my house, but it takes longer to go there and get it taken care of than it does to swap rotors and pads in my driveway with a floorjack, hand tools and a five gallon bucket to sit on (I can do both front rotors with new pads in an hour and a half, and no, I'm not bragging, it's that easy)