Exactly what Alex said.. anyone can (even yourself) change the pads and/or rotors. No special tools needed nor software or programming. at 22K Unless your rotors look like crap, I wouldn't change them. Also you can use the menus to reset your brake check mileage, but if that sensor is tripped you need a new sensor before you can do that. Google how to reset those warnings, I've seen youtube videos in the past.
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