You DEFINITELY do not need to remove the caliper bolts during the front brake pad replacement. Doing so is asking for more trouble in the future. You pull the spring clip, tap the pins out with a nail or properly sized punch, lift the pads out, compress the pistons using a pair of channellocks as mentioned above or a small prybar, slip the new pads in an you are done. Also, pads below 40% will not damage rotors. Pads at 10% won't either. Pads at 0 will though, so 10% is a good place to change. Milling rotors is ok but you will rewarp eventually. All rotors can and do warp, so the ones at autozone etc are probably good enough.
I have to be really honest. I hear a lot of pretty bogus advice on this forum when it comes to maintenance especially. Kind of like the advice people give when they really don't know what the heck they are talking about, or worse yet they know a LITTLE and they make it go a long way. If you are getting 20k out of a set of pads, you are driving like a retard. If your rears wear out first, well I guess I just don't believe that unless there is a mechanical malfunction.
Also, what many of you people consider 4wheeling is nothing more than driving on a dirt road. If you actually did wheel, then pics of a g-wagen in a mud puddle wouldn't give you all chubbies. Wheel you junk, break it, then learn to fix it right. Then give advice. I mean christ, there are people talking tech on here that don't even have confidence in their skills enough to change oil with out getting all panicky about it.
Those of you with REAL ideas, tech needs, etc. CHeck out ih8mud.com or pirate4x4.com for an eye opener.
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Rant over