front brake & rotors replacement

That sounds reasonable to me. It may be a little high. Is your RAV4 4WD? That normally makes brakes more expensive. 23,000 miles does seem a bit early to need brakes. The best way to find out when to change them is to ask the technician what percentage thickness is left, relative to what is 100%. 2 mm could be a lot or a little, if you don't know where it starts. A good rule of thumb is to change at 20% or less remaining of the original specification.

Toyota recommend the pads be changed at 1mm, but 2mm is a good time to change them, if your brake pads have not gone "metal to metal" and you do not feel any brake vibration under moderate or severe braking ask them is it really necessary to refinish/resurface the brake rotors?