I have an IS200 and was on the motorway today. There were major queues and as I was braking heavily, there was major shaking in the steering wheel and a pull to the right. Took it into the local Kwik Fit and said the front disks were warped and the driver side caliper was seized. Got the discs and pads replaced, and they were able to unseize the caliper. Fixed the problem completely, but now hearing noise coming from the far side rear disk. Not a major problem but will have to eventually replace the pads and disks on them. :-( Otherwise, the car is amazing!