Just been told by the service technician that warped rotors at 21k miles are "normal" on a 2021 Honda odyssey and that "it woll happen again".
If by "normal" they mean "happens a lot," I'm not terribly surprised. And if they tell you "it will happen again," what they mean is, "If you keep driving it like you've been driving it, it will happen again." And they're not wrong.
The good news is that the issue is
almost always a driver technique issue, not one of the actual brakes. And your rotors aren't warped, they're just unevenly thick. From bad driving technique.
I believe it's StopTech that has a long series of deeply technical articles on the matter if you want to go into it at that level, but it boils down to pad deposits on the rotor leading to uneven heating of the rotor, which impacts the metallurgy of the rotor.
There's a long path one can go down with bedding brakes, getting a nice layer of pad material on the rotor, etc... and none of that is relevant to street cars, especially not a minivan. Other than occasionally scrubbing the crud off.
A "warped rotor" (pulsing felt in the brake pedal and typically a slightly uneven deceleration) is caused by the rotor being uneven width - if it were actually warped slightly, the floating caliper would side back and forth and you wouldn't notice anything. The uneven width, though, you do feel in the pedal. There's a hard section on the rotor that doesn't wear as quickly as the rest, so it ends up being wider over time, and pushes back harder, and grips harder. This keeps it hotter, which just keeps the cycle going - it's a positive feedback loop.
The original cause is almost always someone standing on the brakes
after coming to a stop with very hot rotors and pads. This leads to a pad-shaped deposit of material on the rotors, which will have higher friction in that section, so more heat, so you start the feedback loop.
The solution is simple enough: Don't stand on the brakes after coming to a hard stop when the rotors are hot - or at all, when stopped. Once you stop, use as little pressure as possible to keep the car from moving, and you won't get the pad-shaped deposits. If the rotors are hot, after coming down a mountain or something, try to avoid stopping if you can. Plan your deceleration to avoid it if possible, and if not, and you're on level ground, use neutral and don't let the hot pads press into the hot rotors. You don't want that transfer to happen in one spot.
And every now and then, ride the brakes a bit - not much, but if nobody is behind you and you've got no reason to stop any time soon, get a couple good prods in while you're rolling - enough that you feel it, 10 seconds or so at a time, moderate pressure. It doesn't have to be a brake bedding sequence, but you want to get the rotors a bit hot, and let the pads really start scrubbing anything off, and transferring a smooth layer of pad material to the rotors.
Do that, you shouldn't have the problems going forward.
Now, if you
do end up with a hybrid/PHEV/EV/etc, remember that they're prone to the opposite problem - brake calipers seizing up from lack of use. For those, every now and then, usually rolling down a hill, pop them into neutral (which disables regen braking on all that I'm aware of) and use the friction brakes moderately to keep them freed up and moving.