There is a wear sensor for each of the four calipers. However, your warning light will come on if only one is contacting the rotor. Your front pads are probably the culprit, but check all four. You can clearly see if your pads need replacing just by inspecting them (proper thickness). Also, if you inspect your pads routinely,and replace them before the sensor wears through, you can re-use them (yes, I'm cheap). Just be careful pulling them out of the old pads and placing them into the new ones, as they are quite brittle. have fun!
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