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Someone told me once that new brake pads/discs last much less if they are installed on old rotors, i.e. that an old rotor will wear a new brake refill much faster than a brand new one because of the settled residue on it. An alternative is to clean the residue by some sort of grinding/polishing but I heard that requires a lathe, which I don't have.
Is it a good idea to replace rotors every time brake pads/discs are replaced?
This is supposed to be a make/model agnostic question but my truck is a 2007 4WD V6 Tacoma, if that matters. The front brakes are pads, the rear are discs.