My dealer said my rear brakes on my car are at 3mm and should be addressed. This is the first car that the rear needed to be change before the front.
As any guess how many more miles do you guys think I have in the rear. The dealer wanted 200.00 bucks. You tube videos make it look straight forward

 

iirc, the rear brakes have 8mm pads, you can do the simple math of plugging in your current mileage and estimating how many more miles you can get out of the remaining material. I would say you safely have about 5k-10k miles. Service limit is 1.5-2mm.
I also had to replace rear pads before doing the fronts. I replaced the rears at around 50k miles.
The only complicated thing about the rears on maxima is that the sliding pin is also the bolt and access is tight.

 

$200 isn't terrible to resurface rotors and change pads.
You will spend that on new pads and rotors doing it yourself.
The rears wear first on these cars. It is a function of the adaptive breaking, which brakes the rear slightly before the front to help eliminate dive.

 

If the rotors are smooth and I don't wait too long can I just change out the pads if I don't witness and pull or pulsing?

 

Yes. I would recommend hitting them with a scotchbrite pad when changing the pads.

 

You can if you are concerned some parts places will measure them for you. Mine does it free and if they need turned it is $10/rotor.

 

You can get brand new rear pads and rotors fro RockAuto.com for under $100 shipped and you can do it yourself. I just did a front pad and rotor change and it was $120 shipped to my door.