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Yes, you can change just rotors on an '01 Nissan Frontier 2WD.
Take off the wheel.
Unpin the brake caliper.
There is a retainer ring holding the rotor on. Put a screw driver in one of the 2 holes in the ring, tap downward, unscrew.
Somewhere in this process the cap for the front wheel bearing comes off. Super easy, just prys off with a flat screw driver, pops right back in.
The bearing can be pulled out by hand. I did and regreased it. It just slides back in.
Reinstall is the reverse of uninstall. No need to open the brake system. Did mine myself. The only tools I needed were; tire iron, jack, jack stands, hammer, flat head screw driver, a 14 mm wrench and socket w/ ratchet. I think it was 14 mm.
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