Am I being duped by the dealer service department?

Hello, is this vehicle a 2.5 liter or 2.0 engine? You should be able to see the brake pad thickness with a flashlight, take a look at the outer pads on all 4 tires and see what they look like. You might be at the limit on brake pads according to your mileage, but that also depends on your driving habits and environment. i.e. city stop and go, or highway less braking. With the correct engine size, we can look to see if there are any Recalls or Technical Service Bulletins on your vehicle. But with the vehicle on a lift at the dealership, a technician can take a quick look at the pads without having to really remove the tires. I used to work for a Subaru dealership, and we would also resurface the rotors when doing a brake job, not replace them unless they were warped to a point where they could not be resurfaced. Every dealership is a bit different. Some places don't bother to resurface (cut) the rotors, they just replace everything. We would cut them at least once or twice as long as they were within spec. Do you notice any pulsing of the brake pedal when stopping, or does the steering wheel shake when you stop? That would indicate warped rotors. You can always take it to another shop for a 2nd opinion. But let us know the engine size and we can check for any technical reason for them to do so. And take a look at the outer pads with a flashlight. There will be a section of the pad which is about 1/4in thick that's metal which is touching the caliper and a section touching the rotor that is the pad's surface area, if you can take a picture and post it here.
If possible, record a video with the sound you are hearing too.

Hello,

Thank you so much for your response. I was able to determine that the rotors need to be replaced and that the noise is most likely due to a bad wheel bearing. So, it's off to the shop I go! Thanks again.