My brakes also are up for full replacement (all rotors and pads) at 21k. Rotors have a significant lip on them and the inner front pads are down to 2-3mm. Rears have a little more at about 3mm. I usually leave all the "nannies" on as I mostly use the car for freeway blasting and zipping through traffic, and as you can imagine, I'm hard on the brakes given the traffic where I live. In my opinion, the OEM equipment is fine, but knowing that they're going to go out in another 20k miles or so, why not invest in something with more longevity? I'm going that route. Suggestions?