I have an 06 with the same brake issues. I have had them done 2x under warranty (new rotors and pads - 10k and 25k) and I need to bring it in again (36k now and want to get done while still covered).
The bottom line is the OEM rotors are bad. After this last 'fix' from the dealer. I will change over to these rotors myself. I actually enjoy doing brakes. I checked out Frozenrotors.com
Frozen Rotors - High Performance Brake Pads, Brake Rotors
The little extra money up front on better rotors and pads is well worth it.
Jack