That sounds like a heat shield rattling, most likely unrelated to the brakes, if you cant find the source of the rattle then take it to a muffler shop those guys will be able to locate the source
there are heat shields under the truck in various places generally along where the exhaust pipe goes, so on the side of the transmission, side of the gas tank, and both catalytic converters have heat shields, and sometimes the firewall can touch on the exhaust. get a rubber mallet and start banging on the heatshields under the truck you should be able to find it