I have a 2006 Volvo S60 with 25,000 miles on it. The front left wheel squeeks once in a while in stop and go traffic. I am thinking i need new breaks. I called my dealer to schedule an appointment and he told me that you ALWAYS have to change the rotors when you change the break pads since the rotors are "soft". This ddidnt make sense to me. is this true?

Also, in the rear left wheel i hear a noise like something is rubbing up against the tire as i ride. any ideas?

still have 25K or 1 year left to warranty.