Replacing the pads may be warranted, but I'd go through a full bedding-in procedure first, just to see if that solves the problem. While this is generally for new pads and/or rotors, it can be done on any vehicle. When I did it on my daily driver it made a significant improvement. You've got nothing to lose except a few minutes of your time, and you may well get the brakes working as they should and avoid the need to replace the pads - at least for now.
https://www.youtube.com/watch?v=kC62yTRxc7M