It doesn't need programming but it does need configuration. That's about a 10 minute operation, and nothing could be easier than physically changing one on a Kicks (no tools needed). List price for a new one is around $450, so that dealer is
totally scamming you.
If you get a used one, it may or may not have the right configuration for your ride. If it's wrong, some things on the car may not work right, particularly in the lighting system. You can minimize the chances of getting a wrongly-configured unit by getting a used one that came from a car with a similar trim level to yours. Many eBay JY's list the VIN for the junked car, and you can use that on an "authorized" parts site like NissanPartsDeal to determine the trim level of the JY car. At worst you'll need to pay the dealer to reconfigure the used one, half an hour if they're fair and an hour if they're out for profit.