myeah, u need new rotors. Back ones (if it's 4 wheel disc are a LIL pricey...)
You have warped rotors/ drums
Rotors can only warp if you have uneven torque distribution across the HUB. Pedal pulsation is usually a build up of pad material on the rotor. Your local parts store might be able to turn them. Worst case is you have to buy new ones.
This is not entirely true. Excessive heating and cooling of metal can create warping as well. Sometimes it happens with shitty pads and people who continually ride their brakes. Either way sometimes even warped rotors can be turned as well.
What you explained is exactly what I'm saying is happening. They get their shitty pads too hot and park the car leaving excess pad material on the rotor. Rotors generally will crack before they warp. I've read this is many times from brake professionals. Stop tech even has it right on their brake FAQ on their website.
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