It sounds like the dealer is answering by the book. You should find an independent that you can trust. Rotors can definately go in 20k miles of normal driving. If their two years old I would replace them. THis is brakes were talking about and you want them to function properly. Those rotors should be about $50 a pop. The dealer will probably try and sell the at list for over $100. Independents can usually cut your repair bill in half. Reluctantly let them do the steering pump and have someone else do the brakes.