The guys who run track days probably don't switch rotors every time because they'll burn through a set of pads in no time. However, for daily driving I always replace rotors and pads at the same time. Costs a bit, but the outcome is always no shakes, no squeals, no worries. The pads want to seat into a fresh machined surface. Can you get away with just a pad slap? Sure, but I'd rather do it all and be done.
2009 135i - SG/Coral - 19" Alufelgen SF-71 - ST Coilovers - Cobb Stage 2+ - AR Downpipes - Berk Sport Exhaust - Active Autowerke Charge Pipe - AMS FMIC - AFE DCI - LUX V3 Angel Eyes - LCI Blacklines - Active Autowerke Strut Tower Brace - BMW Performance CF Spoiler - Kerscher Carbon Splitter - Scopian CF Diffuser - MusicarNW Level 2