When I am doing "spirited driving" my brakes tend to misbehave in different ways. Its only when they are heated up for the most part. All pads, and rotors are good. Pedal isnt going to the floor or anything like that and fluid is good and water free. Sometimes I lose stopping power. Stopping power never really feels the same. Other times if I brake hard it will feel like the pads are crumbling. I had an instance yesterday where I lightly braked at high speed and the car pulled to the right.

I want the brakes to be more consistent and reliable. I dont want to wreck. Any advice would be helpful.