[Meir]

Hi Rob, and welcome.
as an owner of a 2001 S, i can tell you this car has one of the best brakes i have experienced in any other car i drove.
the S model has bigger front calipers then the base, and slotted drilled rotors.
at the moment with 77K on the clock, i probably have less then 10% left on the original brakes and still the car stops on a dime.
if yours with 71K , still have a lot of "meat" on them, could be they were replaced with inferior replacement parts (in the boxster you cannot machine the discs, and they need to be replaced).
there are so many alternatives for brakes in our cars, from Chinese knockoffs, to high quality pads and rotors.
as far as i know the OEM brake system on the S , consists of Brambo caliper and pads, and Zimmerman rotors.
as the other mentioned, start with the fluid flush, its the cheaper and might solve your problem.
good luck, and enjoy your car.