I just went through this at 20k. I have a 2021. The light came on.. I made the appt. I’m thinking no more than 2500. I get to the appt.. they take my car back the advisor comes out and says you need brakes and rotors I’m like huh what no way.. then they say it’s 5900. I couldn’t believe it. Apparently you just can’t change the pads you have to do both. They gave me some reason that I now can remember. I ended up purchasing the parts and had my old tech from BMW, install the parts.