Yeah he's right, this is probably a warranty issue. Its not unusual to warp rotors even at this mileage. On my Solara the rotors still looked good, but weren't good, same vibrating pedal problem as you. New rotors fixed it.
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Toyota OEM rotors are a bit pricey, after market rotors more reasonable at around $60 each, OEM pads about $60.
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Just did mine wife Solara, almost the same thing as Camry i think (even though the parts guy said the parts numbers are different) - anyways the rotors were $21 each and the pads (they only had the good ceramic ones) were $50 from Kragen. The good ones come with the shims installed at least and they haven't made any brake noise. For my own Camry i go for the cheaper ones and take my chances, use the blue goo and usually there's no noise problems no matter what they are made of/
Use the little packet of brake grease where they say and if you change the rotors, put some little bit of that same grease, or anti sieze compound, on the back inside of rotor and the holes but only where it touches the hub (so it doesnt sieze up next time you go to change it). Keep it off the brake surface of course.