One way to check that, if you have the tool, is to go for a drive, and use the brakes a lot. Stop somewhere and use a Infrared Thermometer and measure the temperatures of the two rear calipers.
If one is WAY off from the other, which from your pads I suspect it to be a big difference, you have a faulty caliper OR an e-brake cable that doesn't loosen completely before your drive. Theoretically the wear is even on the pad (no side to side variation, which would involve a bad slide pin.
Sum it up P, take that shit to a dealer and demand it to be fixed under warranty. 20K miles for rear brakes is way short. I've seen rear brakes go to almost 80K before being replaced (on small cars).
GL man!
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