Well there not really warped. They may be hot spotted or have thickness variation.
During those three times in 80k, were they turned? On the vehicle or bench lathe?
First if it was a bench lathe, chances are better then not they are turned with too much runout in them so the issue would just some back in 5-15k miles.
Second is if they had developed a hard spot in them. Turning, if on the vehicle or bench lathe, will never remove that. And the issue will return.
The better situation is just to get new rotors, and they don't have to be cryo'd or slotted or anything else, and a set of pads that are more abrasive to the rotor. Performance Friction Z pads are my recommendation.
Keep in mind though that any rotor that is installed on the hub with a runout higher then 0.0015" (and I prefer 0.0010") is going to have a probable issue in the future. Don't matter what the pads, if the rotors have slots or whatever. The job needs to be done correctly.