I'm looking at the procedure for the rear brake pad R&R, and nowhere does it indicate to enter "Maintenance mode" to do it. It does say if you are not hooking the car up to HDS, to remove the electronic parking brake actuator, and reinstall when you are done. It never mentions putting the car in "Maintenance Mode".
The only "Maintenance Mode" I find in the manual is for VSA maintenance, if you are running the drivetrain on the lift.