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replace them only if they are below the specifications, or have some kind of damage. Per my experience 80+% rotors are replaced with no need for new ones. Just so the shop can make extra profit on parts markup.
Since you're on the subject of brakes, does Ford brake pads have those metal tabs that squeal when they are worn? This is my first Ford (2000 F350 7.3 psd) and I'm still learning some of the maintenance issues. Only had the truck for about a month and haven't pulled the wheels off and checked everything yet.
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.