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Are they pads or are they brake shoes? Neither are hard to change provided you have the means to lift the dual wheels. Back in the 70's I did my share of school bus brakes ( my second job) we had to rivet new linings onto the shoes. Oh the fun of it.
I think its a bit high. $400 might be close but in my opinion $1000 is way out of bounds. For $1000 I would buy the tools and do it myself.
If it is as you say, a very trusted shop, I would trust that estimate. With shop hourly rates of 100+ dollars per hour and parts needs not known till after teardown, total costs can mount up. I would also have the brake hydraulic system flushed and new fluid installed.