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If original, you have gotten more than twice the normal miles out of them.
But the sensors have a complete set of diagnostic codes (including a set for tired sensor) and, if there are no problems noted via a code check, why bother.
At the point you get a code, change both matching fronts was my approach. You can safely use Bosch sensors with pigtails. After all, Bosch makes em and Porsche only boxes and stencils a part number on them.
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