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Now would be the time to upgrade to a 45 amp rotor if yours has the 38 amp rotor. Otherwise, if the rotor is in good shape with the magnets, etc. then no you don't have to replace it
I just had my stator replaced, compensator replaced with the new SE compensator and new rotor, and oil pan gasket replaced.
Since they replaced the oil pan gasket they had to change oil and tranny fluid. All done under ESP for $50. This alone made the ESP worth it, never mind the tranny rebuild and starter replacement last year.