Car shimmy at under 7 mph

I thought this was normal but now I'm not sure. My '07 shakes when braking below 7 mph.
Coming to a complete stop is never perfectly smooth unless medium to hard braking is required. My thought was that the MG2 is in creep mode even while my foot is lightly on the brake pedal, causing the jerking, but creep works properly while not braking. The shaking is very steady, at about 6 Hz, the same frequency as the "popping" noise one hears when stopped at the light with the foot lightly on the brake; just enough to keep the car from creeping, but not mashed far enough to turn off the creep current from the battery. I take it there's two sensors on the pedal as well as a potentiometer. Could the problem be mitigated if the creep current were cut off at the presence of a foot rather than having to press harder? There is no shaking on a harder stop, only the slow ones.

Another thought I had was that the pressure pump itself is supplying the brake pressure to the friction pads, causing the pulsing. In a previous thread, we discussed why my pump was coming on so often. Perhaps a leak in the canister causing the pressure not to be buffered, and the pump itself providing the pressure.

Some expert thoughts would be appreciated.
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First thing I did last night (report;delete request), now waiting for the delete. I will try the brake thing, thanks! I'll post on how it works. I am still curious, it is normal to hear a 6 Hz continual knock when keeping your foot on the brake lightly at a light and then for it to disappear when you mash hard enough to turn off the creep current form the battery?

 

Hz=how many per second.
I couldn't really count the pulses within one second, it's too fast. But you can create a pattern in your head, count the pulses in that pattern (I like to hear the beats in groups of three or six) and then determine how many times it repeats in 30 seconds. It's pretty close.

 

No, I'm not sure at all. that's why I'm asking. I pretty much suspect that's normal, but I suspect the pulsating just before the complete stop isn't. It will be 4:00 before I'm back in the car to try Dolj's suggestion.

 

Thank you Usnavystgc. Well I tried stopping a number of times on neutral, and each time I still felt the pulsating. It may have gotten just a little bit better, but it's hard to know. I need to do some more friction stopping before I know for sure. I'll update when I know more.

 

Neutral forward braking still uses MG2 for slowing?

 

BTW Usnavystgc, thank you for your service.