As Carl is indicating: May not be brakes.
I expand and agree on his thoughts.
Check upper control arm bushings first. Then lower.
Checking these is like checking ujoints. You will have to use heavy leverage and watch closely. Compare sides.
See if you can detect spring sag on one side or the other. You can't think on some of this that left side wear is doing it, actually could be something on the right . Just always check both. King pins and all that. If something "leans" due to weight transfer during stopping, it may seem like the brakes. This type of anomaly is not easy to catch. The pulling may have nothing to do with brakes. It may be "tracking", lean, sag...forcing, which you call pulling. Pulling connotes brakes in our minds. Not talking hauling weight. All vehicles have a fairly large weight transfer to front when stopping. This will cycle the offending mechanical suspension component. If that's the problem. You won't feel it or see it. May have to have a good mechanic put up on a lift and jack around, hard, on everything.
Could even be a decades old dog tracking... or from a collision.... or big pot hole, many moons ago.
Don't dismiss these out of the box items. Think of others. It's not normal. It's been doing it a long time. It's something you don't expect because you have done all the normal tune up.
Approach it with whacky ideas because the normal approach is not producing.
Normal approach:
1. Shoe adjustment
2. Oily shoes
3. Collapsing hose
4. Needs bled
5. Bad wheel cylinder
6. Plumbing
7. Tire pressure
8. Wheel bearing
9. Bent rim
10. You weigh 600 lbs
You have covered all this.
OR...........live with it as you have done.
