One mechanic says I would be wasting my money if I replace only the rotors and pads, the other didn't say anything about the calipers. I don't want to spend a lot of money on parts that are still OK. How do I decide. Is there any history on this?
If your calipers are not binding, dust boots are intact, there is no reason to change them. To extend the life of all hydraulic parts (master, wheel cyls and calipers I suggest that you flush (bleed) system once every two years and every year, remove contents of master with a turkey baster or similar device and re-fill (no bleed necessary) Brake fluid draws in moisture right from the air and can become contaminated. doing what I said, prevents rust from forming inside the system and prevents boiling of fluid under hard braking. At each brake service make sure that all brake hardware is clean and working (caliper slide pins etc. This is important as well.
good luck
The only reason a caliper would need to be replaced is if it was leaking fluid or about to leak fluid. Calipers are expensive. Even if they need to be replaced in the future you can still use the same rotors and pads - i don't see how it would be wasting money
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