akebono, EBC redstuff, Stoptech if available. They are all great pads.
When the rotors are cold aka haven’t been driven on in a while. Feel for a wear lip around the outside edge of the rotor. If you can feel a noticeable lip that is about the thickness of a quarter then you definitely need rotors. If there isn’t much of a lip then you are probably fine slapping pads. The rear rotors generally last a LONG time on Audis because most of the braking is up front. Keep in mind that you need a vagcom/scanner to retract the parking brake feature if you are going to do this repair yourself.