Oh, and BTW when I got my car at 22K miles (3.5 years ago), the pad sensors were on and the damn front rotors were already scored. I was shocked that the RS4 rotors were so expensive, but at least you can get them a bit cheaper now (~$600USD). I think I paid like $650 but the dealer wanted $1000 just for the parts. Front pads were like $125 and rears were under $100 IIRC. You don’t need to change the rears though…it is just the front OEM pads that are problematic.
If your grooving is very light, you might be able to try and sand the rotors a bit and bed your new pads nice and hard.