Is it normal? Of course not. And I'm glad you're touching it with your feet. Using your hands
or another body part would be tough!
Could be that you're rotors are warped and need to be turned (smoothed). If they are somewhat uneven you'll feel a pulsing or vibration when breaking from high speed.
You just ain't built like I am!
OP, this sounds like one of 3 things.
1: Tires out of balance/round (possible, but down on the list)
2: Road surface (I experience this on certain roads, myself, 50/50)
3: Warped rotors (Likely. If the tires were rotated and the correct torque specs not adhered to, the hats warp. Ask me how I know...and no, it has NOTHING to do with getting the brakes hot or any such nonsense. This is either a manufacturing issue (not likely at all), or an installer/maintenance issue. I went round and round and round with this on my 370Z until two GT-R cert. techs finally did everything by hand, and magically...the issue stopped happening, and Nissan NA paid for a bunch of parts, but I still ate $400 in Stoptech pads and Slotted Z1 rotors...pissed).
Turning the rotors will not really work if they are bent due to crappy install sometimes. It's worth a try, but honestly, I'd replace them. I found a good replacement is NAPA Gold. Rock Auto also sells THE SAME IDENTICAL ITEM as Napa Gold under the "Raybestos best/premium" line. I compared specs, photos, everything when I did the rotors on my GJC, and they were 100% identical to NAPA Gold. I also used Raybestos control arms on that GJC, and they were better than OEM, IMO. Raybestos is a killer deal, IMO, at least for my Grand Jeep Cherokee. I have never been let down by their parts. Dealer (GM dealer) charged me $100 to replace the rotors. Rotors cost me $100 (both fronts).
Anyway, if you do have rotor issues, 95% sure it's your fronts.