I have yet to find disc brakes that aren't easy to change the pad on. I'm sure the shop manual has torque specs for everything, but I've never bothered. I just pay attention to how the bolts come out and if they have thread locker on them. If they do, I put some on when I put it back together.
If the rears are stil the same as my truck, they can be tricky since you have to sometimes back of the emergency brake shoes to get the disc/drum off. It used to be the emergency brakes were like a small drum brake setup inside the disc hub, I'm not sure if that is still the case on the 4th gen.
The best thing is to get a shop manual for your truck, even if its just a Chiltons from the parts store. They usually have good info and pictures in them. Factory manuals are the best.