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You don't have to change rotors and pads at the same time. Nothing special about your brakes vs. others.
Those rotors and pads are good enough for what you do.
Labor is reasonable.
Steering wheel shouldn't shake. Likely pad deposit. Possibly warped rotor. If warped, you have to replace. If pad deposit, could rebed the pads and it may just go away.
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"Of all the extreme sports I've ever participated in- windsurfing, kite boarding, wake boarding, tow-in surfing and snowboarding- skiing, for me, made everything else easy."
-Chuck Patterson
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