I bought my 05 limited with 85k on it. The dealer had just done tires and front brakes. I asked about rear and he said that there was still over 50% on them. They started squealing at 95k, and I didn't get a free afternoon to change them until a little after 97k.
When I pulled them off, I noted that the tell-tale squealers were missing, and the squealing that I had heard was steel on steel from the shims to the rotor surface. I ended up doing full rotors/calipers/pads. The total cost for that on my DIY job was about $400 with NAPA ultra parts. I think I had a 25% off brake parts coupon at the time though.
I'm still not 100% happy with how the brakes feel, so I'm getting ready to upgrade the front to sport rotors & calipers. The only part that sucks is that I have to pull the axle nut to get the dust shield off the back of the wheel bearings, and I don't have a set of air tools. Just waiting on a buddy to have a free afternoon that lines up with my time so we can do it.