Grease longevity in brakes can vary, depending on grease quality and vehicle brand brake pin differences.
In our harsh Michigan climate I have seen the grease dry up before the pads wore out, causing sticking and premature pad and/or rotor problems.
I tend to put off this kind of maintenance and only grease the pins when I do a brake pad service.
But, I believe that it might be a good preventive maintenance to clean and grease the pins about mid way through the pad life OR about every 2 or 3 years to circumvent the grease drying out.
Again, it varies between vehicles, some are worse than others.
If not doing it yourself, find an independent garage that will charge about half of your $140 quote. This should be a half hour job up on a lift. The return on investment might not be worth it if you cannot do it yourself. Many of us here could do a complete one axle pad AND rotor replacement for your $140 dollars.