Thanks, everyone! I’ll definitely get another opinion. Hopefully, I’ll only need the rotors and pads redone. I’m going to start braking harder on hills to keep this from happening again 
I went to the dealership at 85k miles, expecting to need new brakes, but they told me I still had plenty of pad left. So maybe it’s not as bad as you think.
I had a similar issue, but it was because my car sat unused during the lockdowns. Not enough driving led to rust building up on the brakes.
If you hold the auto hold button for 3 seconds, it activates a brake pad cleaning feature. I do it once a week, and it helps a lot.
I have a 2018 Niro with 117,000 miles, and my brakes are still in great condition.