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Depends on how and where you drive. You likely won't have to mess with the rears, but 70K on a jeep driven off-road or regularly in the mountains (or towing a trailer) would be alot. If you're a light-foot and spend alot of time on the highway then you might be fine. You can remove a wheel and look at the pad to see how much material is left. If it's around 1/8" inch or less, then you should replace them (so that the rivets don't wind up chewing up the rotor). Otherwise you should be OK for a while.
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