"Normal" at 20K miles? Sorry but I too work at a dealer and it's NOT normal. If they're warped, the only reason why they might need replacing at such low mileage it'd be warranty.
If the pads wore into the rotors and damaged them, then warranty wouldn't cover it BUT I have yet to see that happen with a '01 V70 (X40 maybe).
Most X70s are going between 30-40K miles before they need brake pads ONLY and the rotors typically go twice that before they're worn below mininum thickness requiring their replacement (advised, not mandatory however).
Volvos havent had problems with "normally" warping rotors in years now.
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