Sometimes there is a ticking at my feet and when I press the brakes it is firm and slips (the pedal doesn't go down, it shudders when i push but it won't go down unless i slam). Sometimes the steering gets stuck and shakes violently(shimmy or wobbles), or it will feel hard to control at higher speeds and veer side to side. Also, there is a loud grinding noise/crackled humm (the faster, the louder) that one wheel is worn, but the noise has really changed -->there is fluid on that wheel after parked for a while (NOT BRAKE FLUID). Any help or advice would be much appreciated.

 

check rotor is all i can say

 

You have an ABS/brake problem, a serious one.
It is safe to say one of your calipers are leaking and should be check ASAP.
I would think your brake fluid level is dropping, might out to check it, and don't drive the truck until you find the problem.
Start with the wheel with the fluid on it.
Mike

 

Almost sounds to me like this could be a leaking seal around the swivel housing if it's not brake fluid. That would be the ticking you are hearing (the semi-dry CV joint going bad). and the leaking oil on your brake rotor would make your ABS act funny.

Did you ever get this resolved?

Brian