if rotating tires can you notice if brake pads need replacing 2004 dodge caravan

What is your question?

I heard soft scraping upon accelerating and occasional braking inconsistent for about a week. then the noise went away. took van in for oil change and rotation of tires to Mavis in Raritan NJ 08869. About a week soft scraping noise returned for few days and took it back to Mavis to discover a $2700-$3000 repair in brake pads, rotors, and suspension. Does this price seem to be accurate? I drive 23 miles to work 3 days a week, one third back road and two third highway, minimal local driving with occasional trips to a local store. Once every couple of months I may may drive one hour for visit to family on highway. Two years our our brake pads were replaced. It just seems like an awful lot of money for minimal noise. What are your thoughts and any suggestion. Does Mavis overcharge? We been going to STS for 27 years and they just recently changed hands with all new people working for them.

What makes this problem better or worse?

the soft scraping noise was sporadic and not consistent

How long has your 2004 Dodge Caravan had this problem?

a few weeks