As far as the fronts are concerned, I think you're at that awkward point where you could justify both waiting, and servicing now.
I prefer grouping my services with oil changes... So the question for me would be "do I replace pads now, or next oil change?" I keep records of my inspections so I'd have several data points showing the rate of pad wear. I'd chart these data points to see if I expected to be above 3mm thickness on my next oil change + tire rotation. If so, I'd do the service with my next oil change. However, if the data indicates I am likely to go under my minimum thickness threshold, then I would do the service "now".