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It is a requirement by brake manufacturers. They follow the logic that the pressure between pad and rotor is high and bad rotor sort of damages pads as well (the pads are unevenly worn out, scratched etc. and if you use this pad for a new rotor, you will bring part of this damage to the new rotor).
I do not know whether this is true or not. I have seen this on brake system websites, it has been mentioned by several instruction videos I watched in the past. Also, in the past, and when my dealership discovered that rotors are dead I let them replace them. They insisted on replacing the pads as well although the thickness was still fine.
I can imagine that replacing also makes sense to eliminate the risk of squealing etc.
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