In my experience it's been about every 30k miles. I do a fair amount of off-roading and since the traction control uses the brakes and since I'm often very loaded with camping gear on long trips, this may be more often than normal. The pad sensors will tell you about a thousand miles before they need replacing, so you can let the car tell you when it's time. Note: Don't let anyone tell you the rotors can be "turned" or resurfaced, if they say that, find another mechanic. I tried that once and it is a waste of time and money, they will be noisy and you will just end up replacing them anyway, you need to replace the rotors at every brake job.
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