I am about to replace the front rotors & pads on my 300SE and was wondering about the bearings & seals. To do or not to do... or in simple English, Is this a regular (what interval?) maintenance issue or not.

The car is a 1987, I have had it for six years and who knows when if ever they had been replaced. At this point I do not hear or feel anything wrong in my steering/driving. Any thoughts on the matter ?