So it turns out it is my rotors and its not covered by warranty. The dealer said they will resurface them and charge me $95 to get them done. Thanks everyone for your help.
I have a 2007 MS3 with close to 18000 miles on it. Recently, I have been getting this vibration in my steering wheel when I brake at freeway speeds. I have been rotating my wheels and getting my brakes checked at regular intervals. Any idea what it could be and what I should have the dealer...