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I know you said you don't have the ability to raise the bike but there is a simple way of seeing if the rotor is warped but the back wheel will have to off the ground to do this. They make a run out gauge but you can do it with anything that you can stand up next to the wheel that is long enough to go against the rotor. Take something that you can stand up next to the wheel long enough to be as high as the rotor, then lay something like a pencil across the top and up against the rotor(actually very close to the rotor) turn the wheel slowly and look at the tip of the pencil as the wheel turns. You can see if the distance from the rotor to the pencil tip changes, if it does the rotor is warped.
Do the obvious,replace the pads,then road test the bike.Don't try to over think this.If you still have a problem after pad replacement,then take it to a trained technician for proper diagnosis.
If the pads are worn due to the caliper piston sticking, then you may want to take it to the dealer. The caliper needs to be able to move side to side easily, warped rotors push & pull the pads back & forth & if the hardware is gummed up it takes more pressure to move the caliper creating wear on the rotor in that spot causing thick & thin spots on the rotor which causes the pulsation. So if you pull the caliper off, see how hard & even the piston goes back in, if it goes in with out having to put a lot of pressure on it, lube up the slides, install the pads & install it on the bike, before you touch the pedal grab the caliper & see if it moves back & forth easy. If it does, pump up the brakes & roadtest. If the pulsation is bad, you will need a new rotor, if it is slight & you can live with it, ride on.
Personally I wouldn't use wd40 as it may rot the seals. I clean with brake clean and then wipe them with a cloth with a little brake fluid, clean that off, push them in and out a few times and your good to go.
A dap of high melting point copper grease on the back of the pad where it meets the piston will help reduce squeal.
Any lub on the sides of the piston will just attack more dust and dirt.
What Irish said. When you back up the pistons, you will know if they move or not. Don't put any lubricant on the piston seals. No need to lift the wheel if you can't. The road test will tell. From the pic of your disc, it looks like it had an easy life so far so my guess is that it will be just fine.
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