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On the 560, you don't HAVE to fool with the bearings to take the rotors off. The hats just come right off the front. Not really any harder to do than a Chevy or Ford. You do need a good hex socket set (lisle's is good and inexpensive) and a torque wrench, and some way to bleed the system.
The back is a little trickier, because you have to back off the parking brake shoes a bit to get the LH side off. Even then, the disks tend to get stuck to the axle and there is some significant pounding and swearing involved.
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