Thanks for the reply,
Yes, after giving the mileage ~94000 miles - with the front ones replaced at about ~45000 miles, both shops suspect that both front and back are about due.
The shop that did them back then was one of the shop I called, strange is that they didn't have problem turning the rotor.
It doesn't seem to be that expensive buying parts from Autohausaz, not sure how much dealer would charge yet. Although I've been trying to DIY, I am hesitating about the brake job - would it not work on the highway if I did it?

I guess I'll see how much more going to the mechanic tomorrow. Looks like I may have to spend ~2x66 + 2x43 +2x60 (pads) ~ say $350 in parts. Hopefully it won't be 800 total - maybe 550-600 would be O.K with me.
Hi, Jeffrey. If that's the same shop, then they know. MB rotors are fairly soft and typically last about two sets of pads. Since they didn't change them last time, they know they are due with this change. And they are correct, MB does not specify turning rotors, but rather replacement (and they are cheap enough).
Back up a bit and think. If your pads have lasted that long, then with your driving style/circumstances I'd guess you have at least a month before you need to change them (you'll have to endure the warning in the meanwhile), maybe more since the rotors are likely done anyway.
So, instead of heading to the shop tomorrow, take 20 minutes out of your day and pull one wheel on each side. You'll easily be able to see which end is worn out. (FWIW the base E didn't come with a rear sensor after the facelift, yours may have it). Plus you'll be able to check and see if you have one or two pin calipers on the rear as Den notes.
Have you ever changed pads on any car? If so don't fear the 210 setup. It's really as easy as the DIY says, and the hardest part is getting the rotors off. I'd say find out which end of yours is causing the problem, then order the OEM parts online from autohausaz.com (pads, rotors, new lock screws (why not, they are cheap and pre-coated with loc-tite) and anti-squeal paste packs, plus sensors if it's the front or if you have them on the rear. Then plan to do the job. If you get into it and decide it's beyond you, put back what you took off and take it to the shop. At least you'll have saved the excess profit on the parts.
If you find it's not too bad, then when the other end wears out you'll feel much more comfortable changing them.
Take care and enjoy the ride,
Greg