I just bought 2021 G63 with 26k miles and can also feel some vibration when breaking on highway speeds. It is interesting I don’t feel it when breaking hard, only with medium kind of breaking. I think in my case, this is from rear rotors though might be wrong. G63 is heavy so I would not be surprised rotors deform a bit after heavy breaking. That’s why I’m really enjoying PCCBs on my Panamera Turbo S

And I did have similar vibrations on other (much more lightweight than G63) Porsches with steel OEM breaks. Will probably need to change rotors as well together with break pads. Inspection showed 7mm for the front pads and 6mm on the rear ones. Anyone knows with which thickness the sensor on G63 starts showing pads need change?