pads have a senser that makes a scrapping noise when it is time to change them along with a visual inspection,-the rotors you will need a micrometer to check the thickness -,and a way to spin them and check for being warped, it is probaly best to replace pads and rotors at the same time-plus its cheap enough to do it all 4 wheels, should be under $200 for parts check www.rotorworks on ebay for your year and model
if you only do the pads you need to mach. the rotors but your car may still pull or shake when you apply the brakes
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