Garage door sticking: WD-40 temporary solution but still sticks: need to change hinges or what?
WD-40 is NOT a lubricant.  In fact it will dissolve and wash away any lubricant that was there to begin with.
If you think the problem is lack of lubrication, white lithium grease or similar is a good choice.  There is a WD-40 branded white lithium spray that is quite convenient but there are other brands as well.
As far as whether your hinges and rollers need to be replaced, well that depends on whether they are worn or not.  What you have said doesn't really give much guidance as to their condition.