My pads had plenty of meat on them at 55k, but I replaced them and the rotors due to the pedal pulsing and generally poor braking performance. Note that brakes should still be serviced (cleaned/lubricated) regularly even if you're not replacing parts. This may be more important on a vehicle that sees a lot less brake use than most. My pads were mostly seized and not much fun to get out of the calipers. I believe my car was from the Chicago area (where I bought it from Tesla) so road salt may have been a contributing factor.
That makes a big difference. I have not done anything to my brakes in 6 years. When I replaced my pads the brakes looked perfect and I could push the calipers back with my hands, that's how easy and smooth they were still moving. But I was driving almost exclusively driving in dry Los Angeles.