Try a different shop. If you are getting warped rotors and need the second
set of pads at 22k, you are either a NYC cabbie (or at least drive like one)
or have a problem in the system. Maybe stuck calipers or something.

How heavy is that caravan and does it have brakes of its own?

There's probably little that can be done about the rotors.  Frictio
variance around the circumference of the rotor due to pad imprinting seem
to be the primary cause of brake vibration.  After that, I'd say the secon
most frequent cause is overheating.  In either case, keep taking it back t
the dealer for servicing under warranty.  After the warranty is up, perhap
try some well-regarded aftermarket brake products and see how they fare.
The compositions may be different, so it's possible things will change.
Of course, that change could also be for the worse.

There's a TSB on '07 Santa Fes for installing a washer between the oute
axle joint and the bearing to rectify a snapping noise when shifted from
to D or vice versa.  Not sure whether this can be done to the '06.  An
it's also possible the noise is coming from a different source.  It sound
like the dealer initially found the problem, so now it's time for them t
come up with a more permanent solution

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