2001 Pontiac Grand Prix ABS pulsing

If equipped with ABS, they are supposed to pulse, under heavy braking, you may feel it on the pedal. When you replaced the rotors and pads, did it help at all, (few days, few weeks?). If equipped with ABS is your ABS light on?

Try this:

Raise car, put on stands. Grasp tire and push/pull both horizontally and vertically, if any movement then possible wheel bearing, ball joint, tie rod, control arm bushing. Check CV boots for any signs of leakage or cuts/rips in rubber boot.