If the OE ones worked well for you, find the best price online and use those. Otherwise I've always liked stoptech, probably cheaper and few different pad compounds to choose from. Rotors you can find several options for the Q5, again, buying the non Audi stamped box from the OE manufacturer is a good choice, can try another brand but something seems off for needing all 4 that early unless you do a lot of towing, mountain roads, or are particularly hard on brakes. Do you left foot brake and it's maybe riding them all the time?
22k seems way early to me. Given I have an SQ5, so different brakes, but I drive it like I stole it every day and I still have about 50% left on the fronts at 40k miles, the rears are about done with only about 20% left, I'll check the rotors but guessing I'm going to end up changing just the pads.
Also 2400 is insane to me. Pads you could buy all 4 brakes for less than 200, and for rotors for 400 or 500. Order the parts yourself and do it or find a good independent shop and the labor will probably be half of what the dealer wants. Can get a second opinion then too.
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