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When rotors were less expensive I would replace the rotors and pads at the same time. Brake work is really easy, so the savings I get from a DIY pays for new rotors.
I've experienced that the old rotors get near the minimum thickness about 3/4through the 2nd set of pads and some times warp before the 2nd set of pads are used up. The rotors for the E9x seem rather expensive.
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