While riding whenever I squeeze the front brake the bike vibrates. It’s not a violet vibration but I can feel it through the forks. Bike is a 2017 with 31,000 miles. Had it since new.

Any ideas about what I should check? I plan to change the front brake pads but from what I can tell they look pretty good.

Very common with the ZX14 and ZX14R..
The rotors warp but can generally be machined.
I use Truedisc and have for years.
Their turnaround time is generally 24 to 48 hours.
Hank
https://truedisk.net/