Just wanted to check and see if it was normal to ahve the truck shake at a certain speed when coming to a stop, every auto I have ridden has done this, is it normal??

 

My truck has warped rotors and it lopes when I stop. Shaking steering wheels can indicate bad wheel bearings.

 

Most likely warped rotors or drums, could be bad shocks or low tire inflation

 

I concur ..

My last Ram had a combination of warped rotors and bad shocks. Replacing the shocks helped, then replacing the rotors completely fixed the problem.

My truck started shaking at about 40 then it lessened after the speed went below 35.

 

Just a little opinion here.
I have seen vehicles that constantly have warped rotors. The common thing I have found is the drivers habbits. They usually wait to brake and don't coast. Then they brake hard and when stopped sit still and heat soak the rotor. Try to stop a little sooner and then roll forward 3-4 feet. This will put the heat from the pads across the rotor better.