Fair and simple. Is there a way (clearly stated in the book) to get Perception to Master or Legendary?
None that I know of. Maybe some classes have a class feat that raises perception, but I didn't see one. Alertness is a general feat to get it to Expert but I don't see another feat to raise it higher.
And the question boils down to: is Perception a skill that can be raised with skill increases?
It is not described as such in the book. It gets its own section which is not in the skills section. I cannot find any text that says "you can improve a skill or improve Perception" and I cannot find any text that says "Perception is a skill" or "Perception can be raised like any other skill" or any variation of that.
So no, it looks like it is not a skill.
Also is there a minimum level before you can hit some thresholds with skills?
What thresholds do you mean? You need to be 7th level to get any skill to Master and 15th level to get them to Legendary. This is stated in every class description. I don't know of any other thresholds.
Summary: I don't think there is any way to raise perception beyond expert unless I missed some class or ancestry feat that does it.
Side note: there is at least one feat I saw that lists "Master Perception" as a requirement. For now, it looks like that feat cannot ever be taken. Unless somebody finds a thing I've missed.
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Increase in Perception is hidden in Class Abilities. Example is Ranger who gets Master Perception at 7th Level via Evasion and Legendary Perception at 15th Level via Improved Evasion. Bottom line is you really have to read into the class abilities to see these increases as they do not stand out on their own.
Multiple classes get master in perception as they level up. Off the top of my head, fighters and rangers do, and rangers get it all the way to legendary.
The trapspotter feat gives you a higher grade of Perception for spotting hazards, which is the only place that regularly matters I think.
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Here's a list:
Fighter: Master at 7
Ranger: Master at 7, Legendary at 15
Ranger Multiclass: Master at 12
Rogue: Master at 7, Legendary at 13
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Increase in Perception is hidden in Class Abilities. Example is Ranger who gets Master Perception at 7th Level via Evasion and Legendary Perception at 15th Level via Improved Evasion.
Oh, now I see how I missed it. It's not called Perception, or anything remotely synonymous. In fact, "Evasion" doesn't even remotely relate to perception in any way, shape, or form. A person looking for perception would see a paragraph titled "Evasion" and skip right to the next paragraph.
Yep yep, sure is easier to evade things you can perceive, so I get why the devs mashed them up.
Still, I think it's a bad idea to roll up to marginally related things into a single thing with a title that completely masks the rolled up secondary benefit. This would be better as two abilities:
Evasion 7th
Your reflexes are honed to a razor’s edge, allowing
you to leap out harm’s way. You gain master proficiency in
Reflex saves. When you succeed at a Reflex
save, treat the outcome as a critical success instead.
Heightened Awareness 7th
Your senses are exceptionally keen. You gain master proficiency in
Perception.