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t.o.
In our workshop we usually recommend both to be changed, even if the rotor have minimal wear, it can greatly affect the braking performance.
Different rotor like Magura tend to offer more power due to the difference in steel.
Sound like your brakes is one of those Shimano one that’s pretty hard to get it to feel nice and sharp, a new hydraulic hosing help improve it but there’s only so much we can do