So, I have noticed lately that pressing down on the brake pedal at any speed causes pulsating, keep in mind I am not pressing down hard so this would not be the anti-lock brakes. I have also noticed that when I have the windows open I can hear a squeaking coming from one of the wheels presumably, but only under 40-50 MPH. I was thinking the pulsating could be the result of a bad bearing, as it would explain the squeaking also but I’m not an expert on these things. Any suggestions?

More than likely you have warped front rotors.
When you get the rotors “hot”, it will be more pronounced.
Check your calipers and slides as well if any are hanging up.
Although you’ll have low pedal engagement if the slides are frozen.