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If you're changing the brake pads and there is too little rotor thikness to turn it, it should be replaced. If the rotor is warped and is too thin to be able to turn to remove the warping, replace it. If the brakes "pulsate" when you use moderate brake pressure, the rotor is warped.

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Q: What are the signs that the rotors in a 2000 Toyota 4runner need changing?
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