I finally got to the rear brakes on my 03 this afternoon. Now I really can't figure out why the dealership quoted $510.
I took my time so I would damage anything and kept my Chilton hard copy and my laptop with the JTIS on it handy. It still only took me a couple of hours which included several breaks to look at the manuals. I fould out you don't have to do all the things in the factory procedures.
I didn't disconnect the parking brake cables, nor did I remove the brake hoses, there is plenty of flexability to pull the calipers and move them aside to remove the old pads and clean things up. I did crack the bleeders and hook a bottle to them but very little fluid was displaced when retracting the pistons. I use a cube tool and 3/8" socket to retract the pistons, worked great after I figured out how to secure the caliper so I could use both hands on the socket. I clamped a pair of visegrips on the part of the caliper that remains fasten to the car that allowed the part with the piston to be pressed against it and not move around.
I think now that I've done the job and see what has to be done I could do the job in 1/2 hour or so. The pads I got are OEM's, I paid $90.15 with free shipping so I can't see where the dealership can justify such a high quote.
Well anyway the job is done now. Now I'm ready to put new tires on. Also plan to change coolant before winter.

 

Those sound nice, you seem very handy

 

Good Job!

 

One thing to add on this job. After putting everything together actuate the parking brake a bunch of times, this will adjust the pistons back to a working position.
I drove the Jag today and everything was OK.