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I believe the sensors are good for 10 years +. I'd probably replace them now. Some people wait until they go but at 10 years I'd rather get it over with while I'm there getting tires vs. having to go back and have them done later.
Thanks guys, I did order sensor with tires from tirerack, sensors were actually .74 cents cheaper per which is negligible but they will ship with tires so all arrive at the same time.