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How do I change the front brake rotors? Is it as simple as removing the caliper and pulling the rotor off? Or does the nut that holds the front axle on have to be undone?

remove tire, remove caliper, remove rotor simple as that

Thanks

I hoped that was the case. Glad it is.

why are you changing them in first place, don't tell me you're going with drilled ones cause they're worse than you think. If your rotors are warped take them to local Napa, etc and they'll turn them for you.

They are quite badly warped. I think it is right front and left rear. In the past, when the dealer turned them and re-installed them they warped again in the first half hour. I was thinking of going after market though.

they warped in first half and hour, dude something is wrong with the way you're driving. You're not autocrossing every day are you lol