Brake "Judder/Vibration/Noise" above 70

I did a couple searches and got a few different answers so figured I would start my own post to lock it down before I make a purchase.

Highway speeds or higher only
Medium to hard braking (after a spirited peddle to the meddle run)
Nothing at low speeds or “normal” braking
Stocks Pads, stock rotors
1 track day in cars life
Driven hard usually if not aggressive on the way to work when I can
30k miles
Pads per Audi oil change at 25k (I do them every 5k miles and pay) were “yellow” and will need changing soon, but visually had half the material left
Rotors, front side, visually look normal

So, is it just a used and abused brake situation and just need to replace the pads/rotors/pads&rotors?
Some people were saying it could be a suspension end link or rod, I have the adjustable (SPC) up front and they look fine, no rips or tears on the boots.

Anyways looking for things you guys can tell me to check, or if these all check the box for replacement of Pads/Rotors

Thanks gents!

-AZ