Okay, when you start K3B, you get the default workspace with 6 buttons for new projects, copies, and burning images.
If you right-click within that workspace (not on a button) and select "Format DVD+-RW", then the button will be added to the workspace.
Click this button, and the dialog will appear, containing the options in the bottom-right corner:
"Force"
"Quick Format"
If you remove the checkmark by "Quick Format", I assume it does a thorough job, the kind you're looking for.
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