The price for the filter is way too high, by $2k if bought from a local dealer and more from an online dealer but, if you fill a glass and let it sit, how long does it take to settle out. Beige is probably iron, take a sample somewhere for testing.
I'd pump the well off and see if it clears. If it does, it will come back the next rain like you just had.
What did he charge for the camera inspection? Where are you?