So, after a couple of days in the shop and several many hundred dollars, I think that the problem has been resolved. Front rotors, calipers, brake pads and hoses were replaced.
The rotors were indeed warped, the calipers were sticking, and part of one brake pad was actually missing. The left front wheel was unable to turn without extreme effort, which may have (probably) caused the issues that I experienced. The front end suspension looked great with no sign of binding.
The steering wheel, transfer case, transmission, front suspension, and key position seem to function correctly.
Thanks for all of your comments. I'll keep you posted.