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Hi,
$400 is a little high, but remember, you're paying for someone else to put their kid through college. DIY is pretty easy but $100 is a little optimistic if you're going to do it right.
You should pull the rotors and measure them with a mic to be sure they're still within spec, then take them to an automotive machine shop and have them turned and balanced so you get nice even, vibration-free, bedding in with the new pads. I bet the Dealer includes this service in their price. To do right, I'd say more like $200 and about 3 hrs. time. Many machine shops can turn them while you wait, especially if you call ahead. Hope this helps...
Happy Motoring!... Jim'99
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