truck jerks a little and the brake warning light goes on?

Hey 2178darius,

Thank you for your question.

There is a great guide here on 2CarPros for rear brake servicing.

https://youtu.be/PAjUx1Rct4Q

and

https://www.2carpros.com/articles/how-to-replace-rear-brake-pads-and-rotors

Including some really helpful general information.

Also i will attach below the instructions for replacement of rear brake pads and rotors on your vehicle specifically.

There are 2 sets of instructions for rear rotors.
This is for vehicles with or without option NYS (rear wheel steering)
The First set is for vehicles without NYS

Tightening torques are in the last picture.

Hope this helps, let us know if you have any further questions.

Regards, Joe