Go to the BMW dealer and they'll tell you the lug studs are supposed to be replaced along with the rotors and pads too.
If the rotors are within spec thickness and aren't warped or deformed in anyway then leave them on. My Land Rover was the same way, i was told every other time the pads were replaced the rotors are supposed to be replaced as well...called "disposable rotors". The parts and labor is nearly $400 and was quoted like 2 hours just for pads (not replacing the rotors) -- it always took me 15-20 minutes and $40 to do it myself
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