Welcome New2 .....to be exact it is most likely the front rotors. One way to tell is to tell if it is the front or rear is to press and hold the parking brake button and pull up the lever slowly while doing about 80kph. Do this while traveling in a straight line and while no other cars are near. After slowing to about 70kph lower the lever back to its normal position.
The parking brake is connected to the rear brakes if you experienced no shuddering while trying this procedure it will indeed be the front rotors. If you experience the shuddering it will of course be the rear rotors.
Yes, the shuddering that you feel is in fact the rotors rubbing against the brake pads. The rotors are warped because Chrysler Jeep manufactured too soft of a metal rotor on the Jeep Compass, and too hard of a brake pad. The rotors need to be warrantied and replaced. It is not your fault, but in fact Chrysler Jeep's fault for manufacturing too soft a rotor.
I have the same problem right now. I have 40% brake pad, and the dealership told me that the rotors were manufactured too soft, and Jeep has issued a Tech Service Bulleting stating that the rotors need to be replaced with a more durable rotor.
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