Scalable quantum networks must support concurrent entanglement requests, yet existing routing protocols fail when users compete for shared repeater resources, wasting fragile quantum states. This paper presents RADAR-Q, a resource-aware decentralized routing protocol embedding real-time resource contention into path selection. Unlike prior designs requiring global coordination or central anchors, RADAR-Q makes intelligent local decisions balancing path length and fidelity, instantaneous quantum memory availability, and intermediate Bell-State Measurement (BSM) operations. By identifying the Nearest Common Ancestor (NCA) within a DODAG hierarchy, RADAR-Q localizes entanglement swapping close to communicating users - avoiding unnecessary central detours and reducing BSM chain length and decoherence exposure. We evaluate RADAR-Q on grid and random topologies against synchronous and root-centric asynchronous baselines. Results show RADAR-Q achieves aggregate throughputs 2.5x and 7.6x higher than synchronized and root-centric designs, respectively. While baselines suffer catastrophic fidelity collapse below the 0.5 threshold under high load, RADAR-Q consistently maintains end-to-end fidelity above 0.76, ensuring pairs remain usable. Furthermore, RADAR-Q exhibits near-perfect fairness (Jain's Fairness Index 96-98%) and retains over 50% of its ideal throughput under stringent 1.0 ms coherence times. These findings establish contention-aware decentralized routing as a scalable foundation for multi-tenant quantum networks.

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