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Well... my 14 year old helped and what worked was a combination of all the advice given (less the torch). The old rotors were crumbling from the inside out and you could shave in the pads the metal was so shiny...
But not without at least one follow on problem to correct... one onf the lug studs broke loose with the lug nut about half way on... I've looked online and can't seem to find studs for a 2000 XJ... did they make those part of the hub for that model year? If so, I'm replacing a hub... if not, anyone know where I can find the studs online? I'm going to replace all the nuts as well with something better than stock.