Thanks to this forum I was able to do my rear pads and save something like $500 so here is a DIY with some pics. Disclaimer first, only do this if you feel comfortable working on your vehicle. This is not an official guide and you are fully responsible for your actions. Consult your manual for more details and proper procedures. I performed this a couple weeks ago and wanted to post then but my account hadn't been verified. The sizes of some tools might be off.
Tools -
Brake cleaner
Caliper rewind tool from auto parts store
gloves
pads, I used EBC Greenstuff
towel
Lug nut wrench, I used the one in the spare since I couldn't find an appropriate one in my tool box. Might be 20 or 22mm
Wrenches I believe 13 and 15mm
Loosen the nuts and then lift the truck in the appropriate locations. Make sure to use jack stands for your own safety.
Use this guide to put your rear calipers into service mode. When it goes into service mode you will hear it set for about 5 seconds. You will also get a message on your dash.
Use the 2 wrenches one on either side of the nuts which hold the caliper in place. One of the wrenches in place in the pic. I fully removed the lower one and just loosened the top. Then just rotated the caliper up. Remove the brake pads by twisting and pulling out.
Use the generic disc on the rewind tool without any guides. Follow the instructions that came with the tool. I tightened till the piston was flush with the caliper, didn't force it
Place new pads and follow instructions in pad packaging. They come with lubricant which you place on the pins and in the metal brackets that hold the pads in place.
Follow instructions in guide to remove brakes from service mode. Again you will hear it set for 5 seconds or so.

Tools -
Brake cleaner
Caliper rewind tool from auto parts store
gloves
pads, I used EBC Greenstuff
towel
Lug nut wrench, I used the one in the spare since I couldn't find an appropriate one in my tool box. Might be 20 or 22mm
Wrenches I believe 13 and 15mm

Loosen the nuts and then lift the truck in the appropriate locations. Make sure to use jack stands for your own safety.
Use this guide to put your rear calipers into service mode. When it goes into service mode you will hear it set for about 5 seconds. You will also get a message on your dash.

Use the 2 wrenches one on either side of the nuts which hold the caliper in place. One of the wrenches in place in the pic. I fully removed the lower one and just loosened the top. Then just rotated the caliper up. Remove the brake pads by twisting and pulling out.

Use the generic disc on the rewind tool without any guides. Follow the instructions that came with the tool. I tightened till the piston was flush with the caliper, didn't force it

Place new pads and follow instructions in pad packaging. They come with lubricant which you place on the pins and in the metal brackets that hold the pads in place.
Follow instructions in guide to remove brakes from service mode. Again you will hear it set for 5 seconds or so.