Is thre any way to check if the pads need replacement without disassembling the brake but after removing the tires? Brake pad light is coming off/on. It comes on when I apply the brakes. I have checked the sensor, it seems loose. The pads were replaced less than 5,000 miles.

Just look at the pad, parts touching the disc, is there a lot of it left?

Once the wheel is off, the thickness of the pads is in plain sight.

Wearing out a set of pads in 5000 miles would take some extraordinary effort.

Those sensors do not last very long. May as well just be prepared to replace them every time you do a brake job.

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1986 300E 5-Speed 240k mi.