Brake Pedal Rumble when turning, help

Hey guys,

Just got back from vacation, and was gone about 7 days. When I started up my truck I let it sit till it got to normal temperature then began driving it. I immediately noticed that when I braked the brake pedal would pulse (like how it feels when you try stopping on snow and the truck is not wanting to stop) also heard the rear end making alot of noise, which was to be expected because the differential had all it's lubrication drained from all the gears and was probably all at the bottom.

After driving about 20 miles the truck is alot better but still get a very light pulsing feeling on the brake and sometimes I can hear/feel the truck not wanting to turn all the way on sharp turns.

What should I do?