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You shouldn't need new sensors if they say you still have 40,000kms left.
Whether you need to change the brake pads should depend on whether they have uneven wear. If they have they much pad left on them I would change only the rotors and maybe get the pads shaved if they're a little uneven.
On my E88 135i I had the pads changed at about 60,000kms and I still have around 25,000 left on this second set of pads. Haven't changed the rotors yet. How many kms on your car? I believe that BMW recommends changing the rotors every second pad change.
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