Customer thinks I over charged them

Mobile mechanic here. Did a rear brake job on a 2004 Ford E450 Winnebago (dually). Customer originally thought it just needed front pads, but after inspection the rears were shot.

Ended up doing:

• Rear pads
• 1 rear rotor
• 2 calipers (other one seized during test drive and started smoking)

Job required pulling the axle shaft, relubing bearings, and topping off diff fluid.

Total came out to $872 parts + labor, and my labor was only $360. I also spent extra time and about $40 in gas running around for parts after he initially didn’t want to replace everything.

Now he’s saying I overcharged him. I called around and every shop didn't want to touch it other than one which they quoted $1500–$2000

Am I crazy or is that more than fair?

This isn't some broke ass guy either, he lives in a very nice house on an expensive side of town not factoring this into the quote just saying he's being stingy more than having lack of money. Yes I did quote him $210 originally just for pads but didn't expect the situation to be so bad when I had got to it.