Only if they are worn. It's the rotors that warp, pads wear down evenly.
I am having good results with Centric Cryo treated rotors from Tire Rack.
I am using Hawk HPS pads. Much less dust and brake slightly firmer than OEMs. A little less bite on soft touching, but once they engage they are solid. Silent too.

It's good to do a brake fluid flush at 60k miles if you have not done so already. Has nothing to do with warped rotors though.

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Styling: M5 body kit, M5 trunk spoiler, LED Angel Eyes, HID fogs, LED side markers, Jehnert Flatline speakers, Mobridge M1000 DA2 prepro, Zapco Z8 DSP, Zapco Z-150.6 amp, iDock on dash
Performance: JB4/G5 ISO flashed on Cobb, Meth Injection, AR Downpipes, ER FMIC and Charge Pipe, DCI, Walbro LPFP, RB turbos. H&R Sport springs/Koni FSD shocks.