if you want to save some $$, measure the rotors using a micrometer and compare them to spec. If they are still within spec then machine then and just buy a good set of pads. Use original MB pads to ensure you will have no problems unless you want to upgrade to a performance pad or a pad with less brake dust. MB pads emit alot of brake dust

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2001 E55

2001 E320 Sedan

2001 Subaru Legacy

2006 SLK280

2016 Subaru Outback 3.6