Don't have my E53 anymore and I when I did, brakes and rotors were covered..

Can someone please advise.. Just got this question from a family member.

I just got the "replace brake lining" warning light at 45,000 miles. Should I also replace the rotors? Any particular disc/rotor manufacturer you would recommend? Brembo?

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"When two people agree on everything, one of them is not necessary" - Arliss