Pulled the pads and they looked to have used appx 50% at this point. Not bad at all. Simply required removing the tires, two clips, two pins, and a spring.
Pulled the rotors off and had them surfaced at Infiniti. 2ea 22mm bolts to remove the caliper and a 12mm bolt was used to help remove the rotors
Installed the rotors, calipers and pads after cleaning the pins and using anti-squeal brake lube on the pins and pad backs.
Did the same thing for the rear but did NOT pull and turn the rear rotors. I had some initial concerns during brake in as it was overly clunking. Doing more 40-0 hard brake stops fixed it relatively quickly. Car is braking better than ever.
Unlike single-piston brakes you don't even have to remove the caliper if only replacing pads. What a great design. Even with replacing the rotors it was a simple task...other than the oppressive heat.
Full detailed steps for replacing pads can be found here: http://www.infinitig37.com/g37-change-brake-pads.html