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Check the StopTech website and their white papers -- tons of good usable info over there. If your rotors are worn down to a certain minimum thickness then yes you should replace them. However it is far less frequent than with pads.
People that track their cars seriously tend to get around 8 sets of pads to 1 set of rotors. In most cases with track cars its not the thickness but developing hairline cracks that warrant replacement.
For a street car that sees minimal track time, your rotors ought to last you 10+ years.
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