Try stock rotors and Axxis Deluxe pads...that's what I'm running and I couldn't be more pleased. Low dust, great stopping power and good pedal feel. I changed out the stock pads to Axxis Deluxe with only around 10,000 miles on them because I couldn't stand the mess anymore.

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2005 X5 4.4 (Sterling on Truffle) w/sport everything
2011 Audi S4 (Prestige, DSG)
2012 Audi Q7 (Sport, S-Line)