yes, rear rotors and pads cause a pulsation all the time.
In fact, if you had a pulsation but didn't have any steering wheel vibrations, or had a "Wandering feel" of the car when you were braking hard with the vibration, It's 90% going to be rear. Rear will cause a pulsation in the pedal but no vibration of the steering wheel.
Remember, brake lines all feed to one central point, the Master Cylinder. If one rotor has thickness variation, it will cause that to transfer to your master, which would transfer to the pedal.
If it is a front-disc, rear-drum set up, you can check if it is just the rear by lightly applying the Parking/Emergency brake at cruising speeds. The parking brake on a rear drum set up uses the same brake shoes to stop the vehicle, unlike a rear-disc setup. So pulling it applies the rear brakes, but not the front.
We have used cars all day in the shop have pedal pulsation at 30k miles. it can even be less, but most of our cars we will recondition for sale have around 30k average on them. Diagnosing whether it is front, rear, or both is part of the job.
What kind of pulsation is it? Is it from the car itself, or just in the pedal? Or both? or is it generally when your slowing down that it causes a vibration? Details will help