From a stop taking off in first feels like you have your foot on the brake

if it does it when you have your foot on the brakes while stationary but doesn't if you take your foot of the brakes , it is a vacuum leak in the brake booster making the mixture too lean

Do you feel the brake pedal go down when you hold you foot on the pedal while starting the truck ? Maybe the power booster is bad. The power brake booster is vacuum controlled in most cases an if you hold your foot on the brake pedal when starting you should feel the pedal go down if working correctly .

When the ABS comes into play from heavy braking you will feel a pulsating of the brake pedal under your foot. This is the brake pressure, on off on off as the wheels stop start stop etc. The ABS will not control the vehicle direction but by allowing the wheels to turn under brakes and not lock up you have control of the steering and the direction the vehicle goes.The ABS will not stop you quicker and in fact on ice or loose surface the distance to stop will be increased. As I said all the ABS does is give you steering ability under brakes.. Take the vehicle to an accredited brake shop and have the ABS tested if you feel that it is no operating properly

I'm guessing there's a delay in the front brakes releasing when you take your foot off the brakes. Try this experiment. In a large parking area (like a shopping center) where you can give yourself plenty of braking distance, use your emergency (parking) brakes to bring your car to a stop. The parking brakes only operates the rear brakes. When you come to a complete stop, accelerate and see if you still feel this shake on the front steering axle. If the symptom stops when you only use the rear brakes, then the brake master cylinder is not releasing the hydraulic pressure on the front brakes when you take your foot off the brake pedal. Who ever did your tires and alignment job should have suspected this, assuming you mentioned this symptom to them.
You spelled t-y-r-e-s which indicates you originated from Australia or UK England. In USA & Canada, we spell t-i-r-e-s. Put another shrimp on the barbie for me :-)

This is most dangerous for you. I think that your power brake boost has failed, possibly due to a split vacuum hose. You can test this...
With the engine off, pump the brake pedal hard a few times. Then press down hard on the pedal and start the engine. You should feel the pedal sink perceptibly under your foot.
If this seems OK then your brake pads may be down to the metal on one or more wheels even though you here no noise. Remove the front wheels and have a look, as on p22 here (a later model).

http://www.turboninjas.com/camry/br.pdf

If the pedal feels spongy underfoot, and you can get better brakes by pumping the pedal vigorously, then there is air in the brake system, and it will need to be bled, as on p9

if you can feel a pulsation in foot brake when coming to a stop., that usually indicates the front brake rotors are warped. replace front rotors. good-day !

If you feel that the brakes are hard then check you brake booster, It coud be bad or have no vacuum from the intake manifold. Good luck

If I understand you correctly, you feel a vibration it the brake pedal when you apply the brakes. Is that correct?
Have your brake rotors re surfaced; they are warped.

"engine makes cavitating noise" ....what does this mean?

Air in the brake system bleed the air if this doesnt take care of it you may want to check the brake booster

First check the brake pads in the car ,also if the car as the ABS in it then it will generate a series of vibration when are applied brakes indicating its working ,if there excess vibration you need get your brakes checked ....

Good luck....