Adaptive Cruise Control problems of the 2023 Toyota Highlander

There is a wobbling sensation on my Highlander during braking at highway speeds. There is no such feeling while driving around city. It appeared after my trip on highway in heavy rain. There was no traffic, and I were using cruise control. Suddenly, doing nothing from my side but steering, I started to feel heavy break impacts, which scared me (I was with my family). I switched off cruise control, and those break impacts disappeared. Then switched it again, and I started to feel the same, thus I switched off cruise control and drove the rest of rain area with my foot on accelerator pedal. After that I started to feel wobbling during braking at highway speeds. It seems - more on the right side. Maybe there was more water layer under the right side of the car, and the electronic stability control tried to hold car on the straight line, or camera detect water on the windshield as an obstacle and applied breaks from time to time, which might case warped rotors. To my understanding it has to be warranty issue, as Toyota manual said that driving during heavy rain can cause unproper action of cruise control, but it does not say it can damage the car or warp the rotors.