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My understanding is (from my 2008 335i), if your sensor has any wear from contacting the rotor, you should replace it when replacing pads. When I did a full brake job early on the 08 AND did not initially change the sensor (both were moderately worn), I got a brake pad wear error and could not reset the values. As soon as I replaced the sensors, all cleared and could reset the values. In the scheme of things and for the cost, I'd recommend changing them regardless- just to be safe and save time and effort IF you do get the error and can not reset.
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