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I have had the problem in the past after I cleaned my brakes...
What do you mean by "cleaned my brakes"? Never heard that term before?

If a caliper is sticking rav4system's comparative heat test would find it but it has to be done right after you stop.
Of course the brakes should be rechecked to make sure all bolts are tight.
Another possibility is debris behind the rotors when they were installed.

The most likely IMO is what Blogson mentioned a tire problem - out of round, out of balance, a weight fell off, or possibly a defect such as a broken cord.
An easy DIY diagnosis is to swap the front and rear wheels and see if the problem moves.

About the only other thing I can think of is a wheel bearing going bad but that's usually accompanied by an lot of noise.

If it was my RAV4 after I ruled out the tires I disassemble the front brakes and look for a problem.
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