I replaced all four rotors and pads at about 120,000km with DBA "Kangaroo Paw" rotors and Bendix pads all round - A$600 and fitted them myself - easy job no issues.
Re used the brake wear sensors (the rotors were worn, not the pads) and as I checked them myself. The (st)ealer never mentioned anything about brakes.
They flushed the brake fluid at the recommended interval though...
Had a mild shudder about 5000kms after replacing them, found out the front pads (Bendix HD 4WD ones) were a bit glazed. After some "spirited" driving and braking, this shudder went away. All good now at 182,000kms.
One point - not happy at all with the Bendix HD 4WD pad material in terms of dust (black wheels all the time), noise (squeal like baby pigs at a petting zoo) and life / wear, rotors are grooved worse than the rear, and the brake bias on these cars is 40:60 front to rear.
Now due for new front pads and will give the front rotors a skim clean up machine ($30 each rotor). Will go back to Ferodo pads (as specified OEM) unless i find a better alternative. Ferodo pad type for the D4 SDV6 is "DB2203FTQ" and retail about $65 for a set of 4 pads (front rotors only). Rears are still OK - no dust, no squeal, no rotor grooves at all (Bendix std material).
Will also replace Brake fluid again (2 years since last change).
Cheers,
Eric

