Do I need to replace front brakes with shaking/shuddering in steering wheel?

I have not replaced anything for the front brakes since I have had the car. It is a 2006 and I have put 100k miles on the car. I replaced the rear brakes and rotors back in 2012.

well that is very good!9 years and 100,000+ miles.if you can see what brand the pads are,i would go back with the same type if they gave you 100,000+ miles,brand may/should be stamped on back of the pads.