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Pads 3-4 MM is generally the time to consider new pads. Pads will actually tell you with a metallic grinding sound at about 1-2 mm. That grinding sound means you are now digging into the rotor. Many brake pads have a small metal ridge in the pads to tell you when you need new pads. Personally I think that if you are hearing that sound you are already too late.

Rotors only if they need it or if they can't be turned. Modern rotors are thinner these days so turning may not be an option. Your driving style and the rotors will tell you when it is time to change rotors.
 

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Here in snow country I've always had a caliper seize, or pad get stuck in the clip (most common) long before pads or rotors needed replacement. When the kids started driving rotor replacement was a problem until I educated my daughters a little. At that time I wasn't doing brake work myself. I watched the SMA videos and learned a ton and started doing the brakes myself. Huge savings doing it diy. On my Accord I had what I thought was a rear bearing noise so I pulled everything off to expose the hub. The car was 6 years old at the time To me this was very telling as I had no issues. I lubed everything up and reassembled and about 18 months later, the outer shim separated from the pad. My take is in rust country just wait until you have a problem instead of doing routine maintenance. If you, are a high mileage driver you can tell by looking at the pads when rotating tires. I don't think I've ever had a caliper pin seize as they are in a protected environment. It's those ears of the pads that fuse to the clips where the problem lies around here.
 
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