Unless you regularly drive the Rocky Mountains, or live in San Francisco, or tow constantly in city traffic at max GVRW, it hard for me to believe after 32,000 miles the brakes your Ford chassis need that much work.
If they stop consistently without fade, shudder, pull etc., chances are all you need are front pads and a brake fluid change. That said, I can't see or drive your vehicle. As previously mentioned putting anti-squeal on new pads can help as well as cleaning and relubing the caliper guide pins.
Get an itemized second opinion without saying anything about your first quote.
Chum lee