There are several signs that can indicate it's time to change your brakes, even if the pads and rotors appear to be in good condition. These include:

Squeaking or squealing sounds: If you hear a high-pitched noise when you apply the brakes, it may be an indication that your brake pads are worn down and need to be replaced.

Vibration or pulsation: If you feel a vibration or pulsation in the brake pedal when you apply the brakes, it could be a sign that your rotors are warped and need to be replaced.

Longer stopping distances: If you notice that it's taking longer to stop your vehicle than it used to, it could be a sign that your brakes are wearing out and need to be replaced.

Reduced brake performance: If your brakes feel less responsive than they used to, or if you have to apply more pressure to the pedal to slow down or stop your vehicle, it could be an indication that your brakes are worn and need to be replaced.

Given that you've only put 20k miles on your car in three years and your pads and rotors look fine, it's possible that you may not need to replace them yet. However, if you're experiencing any of the signs listed above, it's best to have your brakes inspected by a mechanic to determine if they need to be replaced. It's always better to err on the side of caution when it comes to your brakes, as they are a crucial component of your vehicle's safety.
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