Honda is having an issue with the brakes on the 03 many are warping...etc.

What you are experiencing is fairly common. That low grumble you hear is basically that on humid nights, the rotors get a bit rusty, when you take it out in the morning and it's still cold....your pads are rubbing off that rust...that is the gruble etc. As far as them being touchy....dunno...take to dealer.