unless they have huge heat spots in them you wouldnt likely be able to tell if they are warped but just looking at them. they would have to be put on a brake lathe and cut/turned. it doesnt take much now days to get to the point it pulsates. hell weve thrown on new rotors that have pulsated from...
that definitely just sounds like brake pulsation. while caster sounds high its still close enough to factory spec that i dont suspect that is the cause. you would feel the vibration driving normally but not just under braking conditions. steering wheel shimmy likely means front rotors
my mustang was like that when I bought it new in 2002. I fixed it at the shop I work at. I was told from one of the dealers that sometimes they strap them down on the trailer so tight it that it knocks the alignment off. That being said, during inspection, dealer should have fixed that