My question would be did the pads have even wear, indicating the piston/slider is working correctly?
I always do a set of brakes as a pair. In other words if the caliper is sticking on one side, both calipers and new pads/ new rotors get done at all at once to bring the braking system to like new again.
Replacing the calipers also includes having to bleed the system, and that is also a good thing to do every few years! The brake fluid is neglected on most vehicles, as most do not do flushes of the system. Brake fluid works hard & gets dirty, add in factor of moisture absorption, it is a good idea to bleed the brakes and get new fluid in system!
Regarding rear brakes please take the time to inspect your e-brake shoes as well.
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Replace the spring kit & shoes while there, your e-brake will thank you.
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In my case with 35k miles, the rear calipers were inspected.
Sliders got lubed, boot cleaned etc. The system on my rig had the brake fluid flushed by dealer last year when the front was renewed.
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All Napa Premium products to replace the ageing original rear system.
Now the e-brake is better and the rears come on strong now.