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Having to change the brake pads and rotors after 20k km

I took my 2014 Hyundai Tucson to the Service Shop today, and I got really surprised when they told me I would have to replace my front and rear brake pads and rotors.

Some context: The Tucson was bought new on 2014 and it is about 22000 km. I always do the maintenance on the schedule at the Hyundai dealership. In 2015, I traveled, and left the car with a friend for 4 months, she drove around the block once a week, to make sure the battery would not fail. Before taking to the shop today, the car was without any use for about 40 days, as I was traveling again. After coming back, I heard a continuing noise on the front wheel, every time I would accelerate the car and that's the reason I took it to the shop. My wife and I are really light drivers and I am sure we don't push the brakes that much. We live in Toronto, Canada, where temperatures could get to -20C during the winter.

Question: Is it normal that I have to change my brakes at 22000 km? I can only think about 2 reasons I need to change it:

  1. Because of the not use of the car for long period of times, made the pads/rotors stale.
  2. The dealership is ripping me off. (I really don't want this to be true)