Brake Disc Pads problems of the 2002 Toyota RAV4

When shifting from drive to reverse and vice versa a clanging sound is heard from the front. I took car to dealer and was told front brake pads need replacing and rotors need to be resurfaced at a cost of $250. 00. + tax. Car had only 10,250 miles. The problem is still present. I was finally told this is normal. Problem was not there until the car reached 7500 and the first tire rotation was performed by the Toyota dealer.