I would be tempted to be a little sceptical about what the dealer is telling you.
According to the VW dealer who used to service my company Passat, the car had brake pads that would magically regenerate themselves between services.
I kept all the service invoices, and after the 2nd annual service, the invoice reported '4mm remaining on rear brake pads'.
The 3rd invoice reported 6mm remaining, the 4th, 6mm, etc. When sold after 60K+ miles and 5+ years, it was still on the original discs and pads.
The RX is a big, heavy car and is likely to be hard on its brakes, it's true. Perhaps get the station that does the car's MOT to give you a second opinion?
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