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If you're doing daily driving it will be hard to notice until the brakes completely go off. If you know your brakes are wearing out but it still feels fine, go find yourself an empty place to accelerate and do hard braking. After a few times you should notice that the brakes have less and less stopping power each time until you get the scare put into you that if you really needed braking power you wouldn't have it. Like others have said, one of the most important pieces on the car, I wouldn't wait for them to go off before replacing.
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