When braking it shakes like it is warped

You are correct. The rotors get warped and causes this vibration.

This means you are going to have to replace them at this point. If the pads are fine then you can try and have a shop turn the rotors if there is enough room left on them.

Here is a couple guides that will help with this:

https://www.2carpros.com/articles/how-to-replace-front-brake-pads-and-rotors-fwd

https://www.2carpros.com/articles/how-to-replace-rear-brake-pads-and-rotors

If you feel the shake in the steering wheel then the front rotors are warped. If it is more in the seat then the rear rotors are warped.

Below is the process from the manual. Let me know what questions you have. Thanks