The only way to assess if maintenance is competitive is to compare with similar apartments in the area, taking amenities into account of course.
Suspiciously low is tricky. We own a co op with a self liquidating mortgage, which is quite rare, and will soon make our maintenance unusually low and our financials unusually strong. So you have to know why maintenance is low before you assume it's a red flag.
Assessments are not hidden maintenance. There are different kinds of money, different pots if you will, that need to be filled at different times. There are capital improvements and operating expenses. Assessments are temporary and are assessed to address a specific need, usually capital improvement or a major repair. Maintenance payments are for the ongoing support of the corporation that owns and manages the building, including salaries. Assessments are not a bad thing, or a red flag, in normal circumstances. Rare indeed is the building that never, ever has any assessments. And yes these can be determined by reading the board minutes over the years or simply asking a resident who's been in the building for awhile.
Your best path is to make sure you choose a place with a maintenance level that is very comfortable for you, so you don't over extend. A reasonably stiff co op board will make sure you don't overextend, because they will require 2 years of maintenance/mortgage money in liquid assets (e.g. in your bank) at closing, among other financial criteria.
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