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Welcome to the board - at 21,000 miles your front disks will likely be OK, changing the front pads on the RSQ3 to EBC Redstuffs (is different compound to the OEM items) eliminates the squeaking issue. Disc wear virtually stops (discs just get polished to be mirrors by the ceramic pads), negligible dust and better brakes - not a lot not to like.
EBC Redstuff Brake Pads DP31513/3C
EBC Redstuff Brake Pads DP31513/3C