I'm having an issue with the brakes on my 01 B4. It is quite hard to describe and I haven't figured out a sure fire way of making it display the problem but I'll give it my best shot.
The most obvious issue is very noticable, but occasional pulsing in the pedal. I know your first thought would be warped rotors, and this could be the case but I have had my fair share of warped rotors in the past and this doesn't feel quite like any of them. For example, the brakes also have a slight wobble when braking at about 110km/h or so which is what I recognise more so as warped rotor issues.
This is what John French said it was a few weeks ago when I took it in too so they ground the rear rotors, cleaned the hubs and re-seated them and regreased the slide pins in the calipers. Problem hasn't gone away at all.
The second symptom worth noting is that it feels like when the brakes are pressed the pedal goes tight at a certain point, but then depending on the pressure (all still within normal braking pressures) the pedal goes past this point and then finally feels normal and the brakes can be applied with enough force necessary to stop.
One situation that does seem to bring out the pulsating in the pedal quite badly is applying minimal to moderate constant pressure when coasting down a prolonged hill. All still at around 60km/h.
Other times I will be braking at lights and be almost at a stop and I'll feel a few faint pulses just before coming to a stop.
As you can see it is hard to describe, but definitely happens every day within my drive to work. My brother also felt it within 10 minutes of taking it for a drive so I'm not going out of my mind. Even though this is the feeling I got from the guy at John French when I just called up to ask them to take another look. He's trying to say it is the ABS and I'm braking hard everywhere...
Any help would be appreciated. The car does have DBA slotted rotors fitted, but otherwise standard brakes. Also of note is that the brake fluid level hasn't gone down at all.