As far as I know there is none. Unless major damage to the hub or something or your putting a brake kit on you shouldn't have to change the caliper. The brake may have a little wire stub sticking off so when they get too low it'll make noise. It doesnt hurt to check by just taking off the wheel and physically inspecting them. The wheel torque is 100 ft lbs.
My 2004 did not have any sensors on it. The brake pads were starting to make sounds on the front driver side. I was going to wait until the end of the week to replace the brake pads but the caliper broke before i got a chance.
So if you hear the brakes making a noise replace the pads quick. By the way the calipers are made out of green ceramic, a first for me. The 2000 may be a little different, but I doubt it has sensors, since the 2004 doesn't.
It will however tell you once the brake fluid is low after the caliper breaks, lol. I guess that is a little too late though.
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