Dealer wants about $250 for the brakes. Not sure but think only front. I was a bit surprised when they told me I needed pads. Last service, 5,000 miles ago, the brakes were over 5 mm. Dealer indicated brakes OK. There are three levels. OK, may require service and require immediate attention. It seems that the brakes wore rather quickly this past six months which is inconsistent with the first 7 years of usage.
Service guys are on commissions. This same dealer serviced my wifes saturn. One time they replaced a belt when the car was only 3 years old. When I enquired, the guy said it had cracks. I asked to see the belt. It was almost perfect. If there were cracks, they were microscopic. Anyway, they didn't charge for the belt. Another time, the tow haul mode light on the F250 was flashing. Not a good thing. Turned out the second gear was gone. Had it towed to the dealer. When I asked about the tranny, the service guy, not the same man, said they'd check it out and let me know. The truck had been left in an area that was blocking other vehicles and the service guy needed to move it. Not a problem. He started it up and floored it until it moved under it's own power for 5 feet. If it didn't need a new tranny before, it did after he moved it. I bet the RPMs were close to 3,000 when he moved it.
So yes, I'm always hesitant when service guys tell me I need something. The 6.0 is known for problems. It's still under the extended warranty which is why I have the dealer service it. But there was no indication that brakes were going.
As to insurance and legal issues. I'm retired from the insurance industry and have never seen, nor heard of an insurer even remotely suggesting they weren't going to pay because a vehicle was not properly maintained. Those tales continue to be bandied about the forums but simply are not justified.