I vaguely recall an encounter with a pulsing brake pedal. I thought the disks would have to be machined or replaced, but the problem went away.
Now I've read it on the internet: warped disks are a myth! When they say a disk is warped, they mean it looks warped on a gauge because material from the pads has been deposited unevenly.
Disk brakes use two kinds of friction: abrasive (like walking on asphalt shingles) and adhesive (like walking on new roofing felt). New disks are bare iron. When the pads are at operating temperature, they deposit a little adhesive material on the disk. Disks are broken in when they have that thin layer.
If you come to a full stop with the brakes on and the pads good and hot, they'll leave a spot of material stuck to the disk. That will cause vibration in subsequent braking. If material gets built up in spots, it will cause pedal pulsing.
If you drive with only light braking, so the pads stay cool, abrasion will wear the deposits away. I guess that's why the pulsing I experienced went away as I drove. If your braking is always minimal, you can end up with bare iron disks, which is supposed to be bad.
When I see a red light or a stop sign, I like to brake so I could stop short of the mark, then glide in with only light brake pressure. That way, I won't overshoot if I have a little braking trouble. I see now that this gives the rotors a couple of seconds to cool the pads before I come to a stop. That should keep the pads from leaving uneven deposits.