Do I need to replace my whole braking system?

Start by replacing the discs and pads. Distorted discs cause judder. If the pistons retract ok the calipers should be fine, assuming no leaks are visible.. Use a piece of flat wood to lever them back for space to fit the new pads. Wire brush the hub where the disc sits to ensure a good seating. Don't forget to use meths to clean off the preservative grease from the new discs. If the calipers were iffy the mot man would have discovered this during the braking efficiency test.

I'd get a brain tune up first. How would we know since you provide NO details?

How would we know?

START by having a qualified person to INSPECT your brakes. As much as some people wish to believe otherwise, it isn't possible to determine what needs done without actually LOOKING at your vehicle.

Generally, only if someone stole your entire braking system.

Yes, if a qualified mechanic determined that need.

Replace the discs and pads. If, when you get the pads out the rubber seal on the caliper is torn, then replace the calipers.It is not that expensive for rebuilt. The discs are now available at bargain prices. It is no longer worth it to machine them.

Hi George. Nice job on providing details. EPIC FAIL. When posting a question on YA, after you type the title you need to click "additional details".