I had very similar symptoms with 08 Liberty late at night. I was close to home, drove home it home and test drove it the following morning. I had no problem with it, I pulled the two front wheels and looked at the brakes and rotors and everything looked fine. A few weeks later it happened again, I jacked it up and found the right front caliper was hanging up. I replaced both front calipers, brake pads, rotors and hoses. That fixed my issue. I probably could have gotten away with doing calipers, pads and hoses, but the rotors had about 70K miles on them and I didn't want to chance it considering how inexpensive they were at the time.