The sensation you probably felt was the ABS system coming on. On the full size trucks, issues with the ABS wheel sensors have caused similar issues to yours. I don't know where yours are mounted, but the should be behind the front brakes. There should be a ring that looks like a gear mounted right behind the front brake assy, it spins with the rotation of the front wheel. Mounted stationary on the out side of the ring (not touching) will be a pick up assy that is watching the ring spin. This pick up can attract and hold anything with small amounts of metal and in general just be extremely dirty and cause the ABS system to not read it correctly. The ABS codes can be read with an appropiate code reader, I'm also thinking you can jump a couple of the terminals in the ALDL connector under the dash, but I can't remember if you can do this on this on this new of a vehicle.
You may also try in
HERE , this is the S10 section of the site.