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Air in the lines will not cause this condition.
How low was the brake fluid? You should never have to add fluid - as the brakes wear out, the fluid level in the reservoir will drop, but will still remain visible in the plastic container.
If the ABS is active, you will feel a buzzing vibration (not severe) - this sounds like there is something wrong (there could be several problems that cause vibration)
1 - Loose or missing caliper slide pins would cause the caliper to misalign, and vibration
2 - Severely worn out brake disk (or disk that is warped)
3 - Loose wheel bearing (truck or trailer)
Also, there is a TSB that applies to your truck if it is a 4WD (TSB #22-005-06) Symptom/Condition:
The customer may experience a self sustaining vibration (shimmy) felt in the front end of the vehicle after striking a bump or pothole.
This may be related - it replaces several front end parts to fix this 'shimmy' (sometimes called a 'death wobble')
Unfortunately, since that is a TSB and not a recall, it will come out of your pocket
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