front rotors are warped - high speed braking can definitely do this - not sure if BAS would compound the problem - need to replace the front rotors and pads - no other cure
Cars are equipped with ESP, but some posters seem to be too
How can you see those rotors are warped just from the pictures? They actually look like they have quite even wear.
Those grooves in the rotors are not normal, at least when OE or equivalent pads are used. You could check for run-out or warping. A cheap dial indicator with magnetic base from Harbor Freight would do it. Just put the magnetic mount on the caliper and the dial indicator point against the rotor, in a bit from the edge. I think runout is supposed to be under 2 thou. Mind you, those grooves look more than 2 thou, so you will need to find the best location. . If your bearings are cause, this would show that to0 because it measure the overall runout of bearings plus rotor.
One time, I had serious vibration on the E320, it was caused (with new disks and pads) by leaving car sitting for 3 weeks. The pads can apparently imprint the rotors where they were stopped. This changes the composition of the cast iron and causes uneven braking. I installed new rotors to fix that.
Only other thought, is to check the edges of the rotors. If corroded, perhaps pads catch on the edge at some speeds. Easy enough to grind or file the edge off if you have the disks off.
Finally, those discs and pads don't look too good. i would change them regardless. And that might solve the problem if you use OE quality parts.