Visually inspect both the pads and the discs.
Pad sensor is only on one pad at the left front. Seen many in the past that had trashed a set of pads (and disc) on one side of the car, but not worn enough to cut through the sensor wire in the pad on the other side.
General rule is if the pad material is thinner than the backing material, replace. If there's a lip on the discs, replace those as well. They should not be machined. By the time you knock the lip off, and true the surfaces, they're going to be on the minimum thickness anyway.
'07 Transporter 1.9 TDI
'01 Beetle 2.0
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