2004 Mercedes Benz ML 350

ceramic pads are about the best out there , you are correct less dust and longer life , most dealers here frown on cutting or resurfacing the rotors , they replace them , depending on the mileage and how many brake jobs were done you may want to consider replacing them , if you are not worried about pulsation, possible noise and undersize rotors , just replace the pads , but if the rotors are undersize or close this is a safety issue

This is the first time that my brakes will be replaced. The car has about 32000 miles. Should I replace the rotors to match the pads? Would these changes void the warranty on the vehicle? It came with a 4 year 50k mile warranty.

you can check with your dealer on the warranty , the pad and rotor surface should be new , as i stated the dealers here replace rotors and do not resurface them
thanks