I had very similar symptoms as you stated with 40k miles. This is my Wifes DD, and also the family truckster, she is very heavy with both pedals (we're working on it) and we live in very congested suburbia. I just spent $1k at Midas. New lifetime Pads and new Rotors on all four. There were cheaper options available, including cutting the rotors and not changing all the pads. "Lifetime" pads, means I never pay for pads again, just the labor. They included the rotation (wheels were off already) and a oil change. They got it all done in about 3 hours, and no problems with their work as of yet. Good Luck.