Usually a pulsating brake pedal is an indication of a warped rotor. When you replaced the rotors did you torque the lug nuts to the proper specs, (80 ft lbs)? If not then you are warping them each time. Also make sure you tighten in a criss cross pattern. Of course you need to check each and every rotor for trueness. Also a warped wheel can cause this. Check all your wheels for a bent condition.
If your brake pedal is pulsating. You might have a out of round rear brake drum. When your front rotors are warped you will feel it in your steering wheel. Try this test. lightly rest your foot on the brake pedal, with your foot resting on the pedal slowly apply your E brake. ( your E brake only works your rear brakes) If your brake pedal pulsates the problem is in the rear brakes.
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