I know people have had this problem, I recently greased the splines and ujoints because other people have done it, but I am still having this problem, what else could it be?

Try and describe it more carefully. Might just be the nature of your transmission and brakes. Are you used to automatic transmissions and drum brakes in the same vehicle?

Well this is my first car so I'm not used to anything, (but I have driven others before, and they don't have this problem) but I really feel something when I brake, its mostly a jerk when I let off the brake. I have a brand new tire on the Left side of my car, and an old worn tire on the Right side, does this have anything to do with it. And where are the nipples located to grease, please be detailed, cause I don't know to much about Toyotas.